; 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.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 }

@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str.5 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [23 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.24 = external hidden unnamed_addr constant [18 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [18 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.27 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.28 = external hidden unnamed_addr constant [25 x i8], align 1
@.str.29 = external hidden unnamed_addr constant [32 x i8], align 1
@.str.30 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.31 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.32 = external hidden unnamed_addr constant [20 x i8], align 1
@.str.33 = external hidden unnamed_addr constant [24 x i8], align 1
@.str.34 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.35 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.36 = external hidden unnamed_addr constant [22 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(...)

declare noundef nonnull align 8 dereferenceable(24) ptr @_ZN6MatrixaSERKS_(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 #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: 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: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #5

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEf(ptr noundef nonnull align 8 dereferenceable(8), float 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: mustprogress uwtable
declare dso_local noundef float @_Z22checkAngleByHomographyRSt6vectorIP16CornerDescriptorSaIS1_EES4_P6Matrixf(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef, float noundef) #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z22checkScaleByHomographyRSt6vectorIP16CornerDescriptorSaIS1_EES4_P6Matrixf(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef, float noundef) #3

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8), i32 noundef) #3 align 2

; 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 @_Z23matchPointsByHomographyRSt6vectorIP16CornerDescriptorSaIS1_EES4_S4_S4_P6Matrixf(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), ptr noundef, float noundef) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

declare void @_ZNK6Matrix7inverseEv(ptr dead_on_unwind writable sret(%class.Matrix) align 8, ptr noundef nonnull align 8 dereferenceable(24)) #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z12checkMatchesRSt6vectorIP16CornerDescriptorSaIS1_EES4_P6Matrixfi(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef, float noundef, i32 noundef) #3

declare noundef float @_Z7distEucPfS_i(ptr noundef, ptr noundef, i32 noundef) #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN16CornerDescriptor6getVecEv(ptr noundef nonnull align 8 dereferenceable(116)) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK16CornerDescriptor7getSizeEv(ptr noundef nonnull align 8 dereferenceable(116)) #6 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef float @_Z23matchSimilarDescriptorsRSt6vectorIP16CornerDescriptorSaIS1_EES4_P6MatrixfRSt14basic_ofstreamIcSt11char_traitsIcEE(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr noundef nonnull align 8 dereferenceable(24) %1, ptr noundef %2, float noundef %3, ptr noundef nonnull align 8 dereferenceable(248) %4) #3 personality ptr @__gxx_personality_v0 {
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca float, align 4
  %10 = alloca ptr, align 8
  %11 = alloca %"class.std::vector", align 8
  %12 = alloca %"class.std::vector", align 8
  %13 = alloca %"class.std::vector", align 8
  %14 = alloca %"class.std::vector", align 8
  %15 = alloca float, align 4
  %16 = alloca i32, align 4
  %17 = alloca i32, align 4
  %18 = alloca ptr, align 8
  %19 = alloca i32, align 4
  %20 = alloca %class.Matrix, align 8
  %21 = alloca %class.Matrix, align 8
  %22 = alloca %"class.std::vector", align 8
  %23 = alloca %"class.std::vector", align 8
  %24 = alloca float, align 4
  %25 = alloca i32, align 4
  %26 = alloca i32, align 4
  %27 = alloca i32, align 4
  store ptr %0, ptr %6, align 8, !tbaa !5
  store ptr %1, ptr %7, align 8, !tbaa !5
  store ptr %2, ptr %8, align 8, !tbaa !5
  store float %3, ptr %9, align 4, !tbaa !9
  store ptr %4, ptr %10, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 24, ptr %11) #7
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %12) #7
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %12) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %13) #7
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %13) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %14) #7
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %14) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #7
  %28 = load ptr, ptr %6, align 8, !tbaa !5
  %29 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %28) #7
  %30 = trunc i64 %29 to i32
  store i32 %30, ptr %16, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #7
  %31 = load ptr, ptr %7, align 8, !tbaa !5
  %32 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %31) #7
  %33 = trunc i64 %32 to i32
  store i32 %33, ptr %17, align 4, !tbaa !11
  %34 = load ptr, ptr %10, align 8, !tbaa !5
  %35 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %34, ptr noundef @.str.22)
          to label %36 unwind label %194

36:                                               ; preds = %5
  %37 = load float, ptr %9, align 4, !tbaa !9
  %38 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEf(ptr noundef nonnull align 8 dereferenceable(8) %35, float noundef %37)
          to label %39 unwind label %194

39:                                               ; preds = %36
  %40 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %38, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %41 unwind label %194

41:                                               ; preds = %39
  %42 = load ptr, ptr %6, align 8, !tbaa !5
  %43 = load ptr, ptr %7, align 8, !tbaa !5
  %44 = load ptr, ptr %8, align 8, !tbaa !5
  invoke void @_Z23matchPointsByHomographyRSt6vectorIP16CornerDescriptorSaIS1_EES4_S4_S4_P6Matrixf(ptr noundef nonnull align 8 dereferenceable(24) %42, ptr noundef nonnull align 8 dereferenceable(24) %43, ptr noundef nonnull align 8 dereferenceable(24) %13, ptr noundef nonnull align 8 dereferenceable(24) %14, ptr noundef %44, float noundef 1.000000e+01)
          to label %45 unwind label %194

45:                                               ; preds = %41
  %46 = load ptr, ptr %10, align 8, !tbaa !5
  %47 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %46, ptr noundef @.str.23)
          to label %48 unwind label %194

48:                                               ; preds = %45
  %49 = load i32, ptr %16, align 4, !tbaa !11
  %50 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %47, i32 noundef %49)
          to label %51 unwind label %194

51:                                               ; preds = %48
  %52 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %50, ptr noundef @.str.24)
          to label %53 unwind label %194

53:                                               ; preds = %51
  %54 = load i32, ptr %17, align 4, !tbaa !11
  %55 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %52, i32 noundef %54)
          to label %56 unwind label %194

56:                                               ; preds = %53
  %57 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %55, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %58 unwind label %194

58:                                               ; preds = %56
  %59 = load ptr, ptr %10, align 8, !tbaa !5
  %60 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %59, ptr noundef @.str.25)
          to label %61 unwind label %194

61:                                               ; preds = %58
  %62 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %13) #7
  %63 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %60, i64 noundef %62)
          to label %64 unwind label %194

64:                                               ; preds = %61
  %65 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %63, ptr noundef @.str.5)
          to label %66 unwind label %194

66:                                               ; preds = %64
  %67 = load i32, ptr %16, align 4, !tbaa !11
  %68 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %65, i32 noundef %67)
          to label %69 unwind label %194

69:                                               ; preds = %66
  %70 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %68, ptr noundef @.str.26)
          to label %71 unwind label %194

71:                                               ; preds = %69
  %72 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %13) #7
  %73 = uitofp i64 %72 to double
  %74 = fmul double 1.000000e+02, %73
  %75 = load i32, ptr %16, align 4, !tbaa !11
  %76 = uitofp i32 %75 to double
  %77 = fdiv double %74, %76
  %78 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %70, double noundef %77)
          to label %79 unwind label %194

79:                                               ; preds = %71
  %80 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %78, ptr noundef @.str.27)
          to label %81 unwind label %194

81:                                               ; preds = %79
  %82 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %80, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %83 unwind label %194

83:                                               ; preds = %81
  %84 = load ptr, ptr %8, align 8, !tbaa !5
  invoke void @_Z22checkScaleByHomographyRSt6vectorIP16CornerDescriptorSaIS1_EES4_P6Matrixf(ptr noundef nonnull align 8 dereferenceable(24) %13, ptr noundef nonnull align 8 dereferenceable(24) %14, ptr noundef %84, float noundef 0x3FD3333340000000)
          to label %85 unwind label %194

85:                                               ; preds = %83
  %86 = load ptr, ptr %10, align 8, !tbaa !5
  %87 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %86, ptr noundef @.str.28)
          to label %88 unwind label %194

88:                                               ; preds = %85
  %89 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %13) #7
  %90 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %87, i64 noundef %89)
          to label %91 unwind label %194

91:                                               ; preds = %88
  %92 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %90, ptr noundef @.str.5)
          to label %93 unwind label %194

93:                                               ; preds = %91
  %94 = load i32, ptr %16, align 4, !tbaa !11
  %95 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %92, i32 noundef %94)
          to label %96 unwind label %194

96:                                               ; preds = %93
  %97 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %95, ptr noundef @.str.26)
          to label %98 unwind label %194

98:                                               ; preds = %96
  %99 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %13) #7
  %100 = uitofp i64 %99 to double
  %101 = fmul double 1.000000e+02, %100
  %102 = load i32, ptr %16, align 4, !tbaa !11
  %103 = uitofp i32 %102 to double
  %104 = fdiv double %101, %103
  %105 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %97, double noundef %104)
          to label %106 unwind label %194

106:                                              ; preds = %98
  %107 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %105, ptr noundef @.str.27)
          to label %108 unwind label %194

108:                                              ; preds = %106
  %109 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %107, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %110 unwind label %194

110:                                              ; preds = %108
  %111 = load ptr, ptr %8, align 8, !tbaa !5
  %112 = invoke noundef float @_Z22checkAngleByHomographyRSt6vectorIP16CornerDescriptorSaIS1_EES4_P6Matrixf(ptr noundef nonnull align 8 dereferenceable(24) %13, ptr noundef nonnull align 8 dereferenceable(24) %14, ptr noundef %111, float noundef 0x3FC3333340000000)
          to label %113 unwind label %194

113:                                              ; preds = %110
  %114 = load ptr, ptr %10, align 8, !tbaa !5
  %115 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %114, ptr noundef @.str.29)
          to label %116 unwind label %194

116:                                              ; preds = %113
  %117 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %13) #7
  %118 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %115, i64 noundef %117)
          to label %119 unwind label %194

119:                                              ; preds = %116
  %120 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %118, ptr noundef @.str.5)
          to label %121 unwind label %194

121:                                              ; preds = %119
  %122 = load i32, ptr %16, align 4, !tbaa !11
  %123 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %120, i32 noundef %122)
          to label %124 unwind label %194

124:                                              ; preds = %121
  %125 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %123, ptr noundef @.str.26)
          to label %126 unwind label %194

126:                                              ; preds = %124
  %127 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %13) #7
  %128 = uitofp i64 %127 to double
  %129 = fmul double 1.000000e+02, %128
  %130 = load i32, ptr %16, align 4, !tbaa !11
  %131 = uitofp i32 %130 to double
  %132 = fdiv double %129, %131
  %133 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %125, double noundef %132)
          to label %134 unwind label %194

134:                                              ; preds = %126
  %135 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %133, ptr noundef @.str.27)
          to label %136 unwind label %194

136:                                              ; preds = %134
  %137 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %135, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %138 unwind label %194

138:                                              ; preds = %136
  call void @llvm.lifetime.start.p0(i64 24, ptr %20) #7
  invoke void @_ZN6MatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(24) %20)
          to label %139 unwind label %198

139:                                              ; preds = %138
  call void @llvm.lifetime.start.p0(i64 24, ptr %21) #7
  %140 = load ptr, ptr %8, align 8, !tbaa !5
  invoke void @_ZNK6Matrix7inverseEv(ptr dead_on_unwind writable sret(%class.Matrix) align 8 %21, ptr noundef nonnull align 8 dereferenceable(24) %140)
          to label %141 unwind label %202

141:                                              ; preds = %139
  %142 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN6MatrixaSERKS_(ptr noundef nonnull align 8 dereferenceable(24) %20, ptr noundef nonnull align 8 dereferenceable(24) %21)
          to label %143 unwind label %206

143:                                              ; preds = %141
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %21) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %21) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %22) #7
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %22) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr %23) #7
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %23) #7
  %144 = load ptr, ptr %10, align 8, !tbaa !5
  %145 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %144, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %146 unwind label %211

146:                                              ; preds = %143
  %147 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %145, ptr noundef @.str.30)
          to label %148 unwind label %211

148:                                              ; preds = %146
  %149 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %22) #7
  %150 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %147, i64 noundef %149)
          to label %151 unwind label %211

151:                                              ; preds = %148
  %152 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %150, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %153 unwind label %211

153:                                              ; preds = %151
  %154 = load ptr, ptr %10, align 8, !tbaa !5
  %155 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %154, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %156 unwind label %211

156:                                              ; preds = %153
  %157 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %155, ptr noundef @.str.31)
          to label %158 unwind label %211

158:                                              ; preds = %156
  %159 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %14) #7
  %160 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %157, i64 noundef %159)
          to label %161 unwind label %211

161:                                              ; preds = %158
  %162 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %160, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %163 unwind label %211

163:                                              ; preds = %161
  %164 = load ptr, ptr %10, align 8, !tbaa !5
  %165 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %164, ptr noundef @.str.32)
          to label %166 unwind label %211

166:                                              ; preds = %163
  %167 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %13) #7
  %168 = uitofp i64 %167 to double
  %169 = fmul double 1.000000e+02, %168
  %170 = load i32, ptr %16, align 4, !tbaa !11
  %171 = load i32, ptr %17, align 4, !tbaa !11
  %172 = icmp ult i32 %170, %171
  br i1 %172, label %173, label %175

173:                                              ; preds = %166
  %174 = load i32, ptr %16, align 4, !tbaa !11
  br label %177

175:                                              ; preds = %166
  %176 = load i32, ptr %17, align 4, !tbaa !11
  br label %177

177:                                              ; preds = %175, %173
  %178 = phi i32 [ %174, %173 ], [ %176, %175 ]
  %179 = uitofp i32 %178 to double
  %180 = fdiv double %169, %179
  %181 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %165, double noundef %180)
          to label %182 unwind label %211

182:                                              ; preds = %177
  %183 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %181, ptr noundef @.str.27)
          to label %184 unwind label %211

184:                                              ; preds = %182
  %185 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %183, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %186 unwind label %211

186:                                              ; preds = %184
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %22) #7
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %23) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #7
  %187 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %13) #7
  %188 = uitofp i64 %187 to float
  store float %188, ptr %24, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #7
  store i32 0, ptr %25, align 4, !tbaa !11
  br label %189

189:                                              ; preds = %279, %186
  %190 = load i32, ptr %25, align 4, !tbaa !11
  %191 = load i32, ptr %16, align 4, !tbaa !11
  %192 = icmp ult i32 %190, %191
  br i1 %192, label %215, label %193

193:                                              ; preds = %189
  store i32 2, ptr %26, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #7
  br label %283

194:                                              ; preds = %136, %134, %126, %124, %121, %119, %116, %113, %110, %108, %106, %98, %96, %93, %91, %88, %85, %83, %81, %79, %71, %69, %66, %64, %61, %58, %56, %53, %51, %48, %45, %41, %39, %36, %5
  %195 = landingpad { ptr, i32 }
          cleanup
  %196 = extractvalue { ptr, i32 } %195, 0
  store ptr %196, ptr %18, align 8
  %197 = extractvalue { ptr, i32 } %195, 1
  store i32 %197, ptr %19, align 4
  br label %432

198:                                              ; preds = %138
  %199 = landingpad { ptr, i32 }
          cleanup
  %200 = extractvalue { ptr, i32 } %199, 0
  store ptr %200, ptr %18, align 8
  %201 = extractvalue { ptr, i32 } %199, 1
  store i32 %201, ptr %19, align 4
  br label %431

202:                                              ; preds = %139
  %203 = landingpad { ptr, i32 }
          cleanup
  %204 = extractvalue { ptr, i32 } %203, 0
  store ptr %204, ptr %18, align 8
  %205 = extractvalue { ptr, i32 } %203, 1
  store i32 %205, ptr %19, align 4
  br label %210

206:                                              ; preds = %141
  %207 = landingpad { ptr, i32 }
          cleanup
  %208 = extractvalue { ptr, i32 } %207, 0
  store ptr %208, ptr %18, align 8
  %209 = extractvalue { ptr, i32 } %207, 1
  store i32 %209, ptr %19, align 4
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %21) #7
  br label %210

210:                                              ; preds = %206, %202
  call void @llvm.lifetime.end.p0(i64 24, ptr %21) #7
  br label %430

211:                                              ; preds = %184, %182, %177, %163, %161, %158, %156, %153, %151, %148, %146, %143
  %212 = landingpad { ptr, i32 }
          cleanup
  %213 = extractvalue { ptr, i32 } %212, 0
  store ptr %213, ptr %18, align 8
  %214 = extractvalue { ptr, i32 } %212, 1
  store i32 %214, ptr %19, align 4
  br label %429

215:                                              ; preds = %189
  %216 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.21)
          to label %217 unwind label %228

217:                                              ; preds = %215
  %218 = load i32, ptr %25, align 4, !tbaa !11
  %219 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %216, i32 noundef %218)
          to label %220 unwind label %228

220:                                              ; preds = %217
  %221 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %219, ptr noundef @_ZSt5flushIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %222 unwind label %228

222:                                              ; preds = %220
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #7
  store i32 0, ptr %27, align 4, !tbaa !11
  br label %223

223:                                              ; preds = %275, %222
  %224 = load i32, ptr %27, align 4, !tbaa !11
  %225 = load i32, ptr %17, align 4, !tbaa !11
  %226 = icmp ult i32 %224, %225
  br i1 %226, label %232, label %227

227:                                              ; preds = %223
  store i32 5, ptr %26, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #7
  br label %278

228:                                              ; preds = %220, %217, %215
  %229 = landingpad { ptr, i32 }
          cleanup
  %230 = extractvalue { ptr, i32 } %229, 0
  store ptr %230, ptr %18, align 8
  %231 = extractvalue { ptr, i32 } %229, 1
  store i32 %231, ptr %19, align 4
  br label %282

232:                                              ; preds = %223
  %233 = load ptr, ptr %6, align 8, !tbaa !5
  %234 = load i32, ptr %25, 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
  %238 = invoke noundef ptr @_ZN16CornerDescriptor6getVecEv(ptr noundef nonnull align 8 dereferenceable(116) %237)
          to label %239 unwind label %270

239:                                              ; preds = %232
  %240 = load ptr, ptr %7, align 8, !tbaa !5
  %241 = load i32, ptr %27, align 4, !tbaa !11
  %242 = zext i32 %241 to i64
  %243 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %240, i64 noundef %242) #7
  %244 = load ptr, ptr %243, align 8, !tbaa !5
  %245 = invoke noundef ptr @_ZN16CornerDescriptor6getVecEv(ptr noundef nonnull align 8 dereferenceable(116) %244)
          to label %246 unwind label %270

246:                                              ; preds = %239
  %247 = load ptr, ptr %7, align 8, !tbaa !5
  %248 = load i32, ptr %27, align 4, !tbaa !11
  %249 = zext i32 %248 to i64
  %250 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %247, i64 noundef %249) #7
  %251 = load ptr, ptr %250, align 8, !tbaa !5
  %252 = invoke noundef i32 @_ZNK16CornerDescriptor7getSizeEv(ptr noundef nonnull align 8 dereferenceable(116) %251)
          to label %253 unwind label %270

253:                                              ; preds = %246
  %254 = invoke noundef float @_Z7distEucPfS_i(ptr noundef %238, ptr noundef %245, i32 noundef %252)
          to label %255 unwind label %270

255:                                              ; preds = %253
  store float %254, ptr %15, align 4, !tbaa !9
  %256 = load float, ptr %15, align 4, !tbaa !9
  %257 = load float, ptr %9, align 4, !tbaa !9
  %258 = fcmp olt float %256, %257
  br i1 %258, label %259, label %274

259:                                              ; preds = %255
  %260 = load ptr, ptr %6, align 8, !tbaa !5
  %261 = load i32, ptr %25, align 4, !tbaa !11
  %262 = zext i32 %261 to i64
  %263 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %260, i64 noundef %262) #7
  invoke void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %11, ptr noundef nonnull align 8 dereferenceable(8) %263)
          to label %264 unwind label %270

264:                                              ; preds = %259
  %265 = load ptr, ptr %7, align 8, !tbaa !5
  %266 = load i32, ptr %27, align 4, !tbaa !11
  %267 = zext i32 %266 to i64
  %268 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %265, i64 noundef %267) #7
  invoke void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %12, ptr noundef nonnull align 8 dereferenceable(8) %268)
          to label %269 unwind label %270

269:                                              ; preds = %264
  br label %274

270:                                              ; preds = %264, %259, %253, %246, %239, %232
  %271 = landingpad { ptr, i32 }
          cleanup
  %272 = extractvalue { ptr, i32 } %271, 0
  store ptr %272, ptr %18, align 8
  %273 = extractvalue { ptr, i32 } %271, 1
  store i32 %273, ptr %19, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #7
  br label %282

274:                                              ; preds = %269, %255
  br label %275

275:                                              ; preds = %274
  %276 = load i32, ptr %27, align 4, !tbaa !11
  %277 = add i32 %276, 1
  store i32 %277, ptr %27, align 4, !tbaa !11
  br label %223, !llvm.loop !13

278:                                              ; preds = %227
  br label %279

279:                                              ; preds = %278
  %280 = load i32, ptr %25, align 4, !tbaa !11
  %281 = add i32 %280, 1
  store i32 %281, ptr %25, align 4, !tbaa !11
  br label %189, !llvm.loop !15

282:                                              ; preds = %270, %228
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #7
  br label %428

283:                                              ; preds = %193
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %13) #7
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %14) #7
  %284 = load ptr, ptr %10, align 8, !tbaa !5
  %285 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %284, ptr noundef @.str.33)
          to label %286 unwind label %345

286:                                              ; preds = %283
  %287 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #7
  %288 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %285, i64 noundef %287)
          to label %289 unwind label %345

289:                                              ; preds = %286
  %290 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %288, ptr noundef @.str.34)
          to label %291 unwind label %345

291:                                              ; preds = %289
  %292 = load i32, ptr %16, align 4, !tbaa !11
  %293 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %290, i32 noundef %292)
          to label %294 unwind label %345

294:                                              ; preds = %291
  %295 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %293, ptr noundef @.str.26)
          to label %296 unwind label %345

296:                                              ; preds = %294
  %297 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #7
  %298 = uitofp i64 %297 to double
  %299 = fmul double 1.000000e+02, %298
  %300 = load i32, ptr %16, align 4, !tbaa !11
  %301 = uitofp i32 %300 to double
  %302 = fdiv double %299, %301
  %303 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %295, double noundef %302)
          to label %304 unwind label %345

304:                                              ; preds = %296
  %305 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %303, ptr noundef @.str.27)
          to label %306 unwind label %345

306:                                              ; preds = %304
  %307 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %305, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %308 unwind label %345

308:                                              ; preds = %306
  %309 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %310 unwind label %345

310:                                              ; preds = %308
  %311 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %309, ptr noundef @.str.33)
          to label %312 unwind label %345

312:                                              ; preds = %310
  %313 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #7
  %314 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %311, i64 noundef %313)
          to label %315 unwind label %345

315:                                              ; preds = %312
  %316 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %314, ptr noundef @.str.34)
          to label %317 unwind label %345

317:                                              ; preds = %315
  %318 = load i32, ptr %16, align 4, !tbaa !11
  %319 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %316, i32 noundef %318)
          to label %320 unwind label %345

320:                                              ; preds = %317
  %321 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %319, ptr noundef @.str.26)
          to label %322 unwind label %345

322:                                              ; preds = %320
  %323 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #7
  %324 = uitofp i64 %323 to double
  %325 = fmul double 1.000000e+02, %324
  %326 = load i32, ptr %16, align 4, !tbaa !11
  %327 = uitofp i32 %326 to double
  %328 = fdiv double %325, %327
  %329 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %321, double noundef %328)
          to label %330 unwind label %345

330:                                              ; preds = %322
  %331 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %329, ptr noundef @.str.27)
          to label %332 unwind label %345

332:                                              ; preds = %330
  %333 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %331, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %334 unwind label %345

334:                                              ; preds = %332
  %335 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #7
  %336 = icmp ne i64 %335, 0
  br i1 %336, label %337, label %349

337:                                              ; preds = %334
  %338 = load ptr, ptr %8, align 8, !tbaa !5
  invoke void @_Z12checkMatchesRSt6vectorIP16CornerDescriptorSaIS1_EES4_P6Matrixfi(ptr noundef nonnull align 8 dereferenceable(24) %11, ptr noundef nonnull align 8 dereferenceable(24) %12, ptr noundef %338, float noundef 3.000000e+00, i32 noundef 1)
          to label %339 unwind label %345

339:                                              ; preds = %337
  %340 = load ptr, ptr %8, align 8, !tbaa !5
  invoke void @_Z22checkScaleByHomographyRSt6vectorIP16CornerDescriptorSaIS1_EES4_P6Matrixf(ptr noundef nonnull align 8 dereferenceable(24) %11, ptr noundef nonnull align 8 dereferenceable(24) %12, ptr noundef %340, float noundef 0x3FD3333340000000)
          to label %341 unwind label %345

341:                                              ; preds = %339
  %342 = load ptr, ptr %8, align 8, !tbaa !5
  %343 = invoke noundef float @_Z22checkAngleByHomographyRSt6vectorIP16CornerDescriptorSaIS1_EES4_P6Matrixf(ptr noundef nonnull align 8 dereferenceable(24) %11, ptr noundef nonnull align 8 dereferenceable(24) %12, ptr noundef %342, float noundef 0x3FC3333340000000)
          to label %344 unwind label %345

344:                                              ; preds = %341
  br label %349

345:                                              ; preds = %421, %419, %411, %409, %406, %404, %401, %399, %397, %395, %387, %385, %382, %380, %377, %374, %372, %370, %362, %360, %357, %355, %352, %349, %341, %339, %337, %332, %330, %322, %320, %317, %315, %312, %310, %308, %306, %304, %296, %294, %291, %289, %286, %283
  %346 = landingpad { ptr, i32 }
          cleanup
  %347 = extractvalue { ptr, i32 } %346, 0
  store ptr %347, ptr %18, align 8
  %348 = extractvalue { ptr, i32 } %346, 1
  store i32 %348, ptr %19, align 4
  br label %428

349:                                              ; preds = %344, %334
  %350 = load ptr, ptr %10, align 8, !tbaa !5
  %351 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %350, ptr noundef @.str.33)
          to label %352 unwind label %345

352:                                              ; preds = %349
  %353 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #7
  %354 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %351, i64 noundef %353)
          to label %355 unwind label %345

355:                                              ; preds = %352
  %356 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %354, ptr noundef @.str.35)
          to label %357 unwind label %345

357:                                              ; preds = %355
  %358 = load i32, ptr %16, align 4, !tbaa !11
  %359 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %356, i32 noundef %358)
          to label %360 unwind label %345

360:                                              ; preds = %357
  %361 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %359, ptr noundef @.str.26)
          to label %362 unwind label %345

362:                                              ; preds = %360
  %363 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #7
  %364 = uitofp i64 %363 to double
  %365 = fmul double 1.000000e+02, %364
  %366 = load i32, ptr %16, align 4, !tbaa !11
  %367 = uitofp i32 %366 to double
  %368 = fdiv double %365, %367
  %369 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %361, double noundef %368)
          to label %370 unwind label %345

370:                                              ; preds = %362
  %371 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %369, ptr noundef @.str.27)
          to label %372 unwind label %345

372:                                              ; preds = %370
  %373 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %371, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %374 unwind label %345

374:                                              ; preds = %372
  %375 = load ptr, ptr %10, align 8, !tbaa !5
  %376 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %375, ptr noundef @.str.33)
          to label %377 unwind label %345

377:                                              ; preds = %374
  %378 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #7
  %379 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %376, i64 noundef %378)
          to label %380 unwind label %345

380:                                              ; preds = %377
  %381 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %379, ptr noundef @.str.36)
          to label %382 unwind label %345

382:                                              ; preds = %380
  %383 = load float, ptr %24, align 4, !tbaa !9
  %384 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEf(ptr noundef nonnull align 8 dereferenceable(8) %381, float noundef %383)
          to label %385 unwind label %345

385:                                              ; preds = %382
  %386 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %384, ptr noundef @.str.26)
          to label %387 unwind label %345

387:                                              ; preds = %385
  %388 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #7
  %389 = uitofp i64 %388 to double
  %390 = fmul double 1.000000e+02, %389
  %391 = load float, ptr %24, align 4, !tbaa !9
  %392 = fpext float %391 to double
  %393 = fdiv double %390, %392
  %394 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %386, double noundef %393)
          to label %395 unwind label %345

395:                                              ; preds = %387
  %396 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %394, ptr noundef @.str.27)
          to label %397 unwind label %345

397:                                              ; preds = %395
  %398 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %396, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %399 unwind label %345

399:                                              ; preds = %397
  %400 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.33)
          to label %401 unwind label %345

401:                                              ; preds = %399
  %402 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #7
  %403 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %400, i64 noundef %402)
          to label %404 unwind label %345

404:                                              ; preds = %401
  %405 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %403, ptr noundef @.str.36)
          to label %406 unwind label %345

406:                                              ; preds = %404
  %407 = load float, ptr %24, align 4, !tbaa !9
  %408 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEf(ptr noundef nonnull align 8 dereferenceable(8) %405, float noundef %407)
          to label %409 unwind label %345

409:                                              ; preds = %406
  %410 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %408, ptr noundef @.str.26)
          to label %411 unwind label %345

411:                                              ; preds = %409
  %412 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #7
  %413 = uitofp i64 %412 to double
  %414 = fmul double 1.000000e+02, %413
  %415 = load float, ptr %24, align 4, !tbaa !9
  %416 = fpext float %415 to double
  %417 = fdiv double %414, %416
  %418 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %410, double noundef %417)
          to label %419 unwind label %345

419:                                              ; preds = %411
  %420 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %418, ptr noundef @.str.27)
          to label %421 unwind label %345

421:                                              ; preds = %419
  %422 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %420, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %423 unwind label %345

423:                                              ; preds = %421
  %424 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #7
  %425 = uitofp i64 %424 to float
  %426 = load float, ptr %24, align 4, !tbaa !9
  %427 = fdiv float %425, %426
  store i32 1, ptr %26, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #7
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %23) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %23) #7
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %22) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %22) #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 @llvm.lifetime.end.p0(i64 4, ptr %17) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #7
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %14) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %14) #7
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %13) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %13) #7
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %12) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %12) #7
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %11) #7
  ret float %427

428:                                              ; preds = %345, %282
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #7
  br label %429

429:                                              ; preds = %428, %211
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %23) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %23) #7
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %22) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %22) #7
  br label %430

430:                                              ; preds = %429, %210
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #7
  br label %431

431:                                              ; preds = %430, %198
  call void @llvm.lifetime.end.p0(i64 24, ptr %20) #7
  br label %432

432:                                              ; preds = %431, %194
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #7
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %14) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %14) #7
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %13) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %13) #7
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %12) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %12) #7
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %11) #7
  br label %433

433:                                              ; preds = %432
  %434 = load ptr, ptr %18, align 8
  %435 = load i32, ptr %19, align 4
  %436 = insertvalue { ptr, i32 } poison, ptr %434, 0
  %437 = insertvalue { ptr, i32 } %436, i32 %435, 1
  resume { ptr, i32 } %437
}

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8), double noundef) #3 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 = { 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.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 }

@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str.5 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [23 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.24 = external hidden unnamed_addr constant [18 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [18 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.27 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.28 = external hidden unnamed_addr constant [25 x i8], align 1
@.str.29 = external hidden unnamed_addr constant [32 x i8], align 1
@.str.30 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.31 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.32 = external hidden unnamed_addr constant [20 x i8], align 1
@.str.33 = external hidden unnamed_addr constant [24 x i8], align 1
@.str.34 = external hidden unnamed_addr constant [10 x i8], align 1
@.str.35 = external hidden unnamed_addr constant [17 x i8], align 1
@.str.36 = external hidden unnamed_addr constant [22 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(...)

declare noundef nonnull align 8 dereferenceable(24) ptr @_ZN6MatrixaSERKS_(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 #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: 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: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #5

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEf(ptr noundef nonnull align 8 dereferenceable(8), float 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: mustprogress uwtable
declare dso_local noundef float @_Z22checkAngleByHomographyRSt6vectorIP16CornerDescriptorSaIS1_EES4_P6Matrixf(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef, float noundef) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z22checkScaleByHomographyRSt6vectorIP16CornerDescriptorSaIS1_EES4_P6Matrixf(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef, float noundef) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8), i32 noundef) local_unnamed_addr #3 align 2

; 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 @_Z23matchPointsByHomographyRSt6vectorIP16CornerDescriptorSaIS1_EES4_S4_S4_P6Matrixf(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), ptr noundef, float noundef) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

declare void @_ZNK6Matrix7inverseEv(ptr dead_on_unwind writable sret(%class.Matrix) align 8, ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z12checkMatchesRSt6vectorIP16CornerDescriptorSaIS1_EES4_P6Matrixfi(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef, float noundef, i32 noundef) local_unnamed_addr #3

declare noundef float @_Z7distEucPfS_i(ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN16CornerDescriptor6getVecEv(ptr noundef nonnull align 8 dereferenceable(116)) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK16CornerDescriptor7getSizeEv(ptr noundef nonnull align 8 dereferenceable(116)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef float @_Z23matchSimilarDescriptorsRSt6vectorIP16CornerDescriptorSaIS1_EES4_P6MatrixfRSt14basic_ofstreamIcSt11char_traitsIcEE(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr noundef nonnull align 8 dereferenceable(24) %1, ptr noundef %2, float noundef %3, ptr noundef nonnull align 8 dereferenceable(248) %4) local_unnamed_addr #3 personality ptr @__gxx_personality_v0 {
  %6 = alloca %"class.std::vector", align 8
  %7 = alloca %"class.std::vector", align 8
  %8 = alloca %"class.std::vector", align 8
  %9 = alloca %"class.std::vector", align 8
  %10 = alloca %class.Matrix, align 8
  %11 = alloca %class.Matrix, align 8
  %12 = alloca %"class.std::vector", align 8
  %13 = alloca %"class.std::vector", align 8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %6) #8
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %6) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %7) #8
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %8) #8
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %8) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %9) #8
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #8
  %14 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %0) #8
  %15 = trunc i64 %14 to i32
  %16 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %1) #8
  %17 = trunc i64 %16 to i32
  %18 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %4, ptr noundef nonnull @.str.22)
          to label %19 unwind label %166

19:                                               ; preds = %5
  %20 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEf(ptr noundef nonnull align 8 dereferenceable(8) %18, float noundef %3)
          to label %21 unwind label %166

21:                                               ; preds = %19
  %22 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %20, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %23 unwind label %166

23:                                               ; preds = %21
  invoke void @_Z23matchPointsByHomographyRSt6vectorIP16CornerDescriptorSaIS1_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) %8, ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef %2, float noundef 1.000000e+01)
          to label %24 unwind label %166

24:                                               ; preds = %23
  %25 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %4, ptr noundef nonnull @.str.23)
          to label %26 unwind label %166

26:                                               ; preds = %24
  %27 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %25, i32 noundef %15)
          to label %28 unwind label %166

28:                                               ; preds = %26
  %29 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %27, ptr noundef nonnull @.str.24)
          to label %30 unwind label %166

30:                                               ; preds = %28
  %31 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %29, i32 noundef %17)
          to label %32 unwind label %166

32:                                               ; preds = %30
  %33 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %31, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %34 unwind label %166

34:                                               ; preds = %32
  %35 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %4, ptr noundef nonnull @.str.25)
          to label %36 unwind label %166

36:                                               ; preds = %34
  %37 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %8) #8
  %38 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %35, i64 noundef %37)
          to label %39 unwind label %166

39:                                               ; preds = %36
  %40 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %38, ptr noundef nonnull @.str.5)
          to label %41 unwind label %166

41:                                               ; preds = %39
  %42 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %40, i32 noundef %15)
          to label %43 unwind label %166

43:                                               ; preds = %41
  %44 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %42, ptr noundef nonnull @.str.26)
          to label %45 unwind label %166

45:                                               ; preds = %43
  %46 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %8) #8
  %47 = uitofp i64 %46 to double
  %48 = fmul double %47, 1.000000e+02
  %49 = uitofp i32 %15 to double
  %50 = fdiv double %48, %49
  %51 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %44, double noundef %50)
          to label %52 unwind label %166

52:                                               ; preds = %45
  %53 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %51, ptr noundef nonnull @.str.27)
          to label %54 unwind label %166

54:                                               ; preds = %52
  %55 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %53, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %56 unwind label %166

56:                                               ; preds = %54
  invoke void @_Z22checkScaleByHomographyRSt6vectorIP16CornerDescriptorSaIS1_EES4_P6Matrixf(ptr noundef nonnull align 8 dereferenceable(24) %8, ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef %2, float noundef 0x3FD3333340000000)
          to label %57 unwind label %166

57:                                               ; preds = %56
  %58 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %4, ptr noundef nonnull @.str.28)
          to label %59 unwind label %166

59:                                               ; preds = %57
  %60 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %8) #8
  %61 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %58, i64 noundef %60)
          to label %62 unwind label %166

62:                                               ; preds = %59
  %63 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %61, ptr noundef nonnull @.str.5)
          to label %64 unwind label %166

64:                                               ; preds = %62
  %65 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %63, i32 noundef %15)
          to label %66 unwind label %166

66:                                               ; preds = %64
  %67 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %65, ptr noundef nonnull @.str.26)
          to label %68 unwind label %166

68:                                               ; preds = %66
  %69 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %8) #8
  %70 = uitofp i64 %69 to double
  %71 = fmul double %70, 1.000000e+02
  %72 = fdiv double %71, %49
  %73 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %67, double noundef %72)
          to label %74 unwind label %166

74:                                               ; preds = %68
  %75 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %73, ptr noundef nonnull @.str.27)
          to label %76 unwind label %166

76:                                               ; preds = %74
  %77 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %75, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %78 unwind label %166

78:                                               ; preds = %76
  %79 = invoke noundef float @_Z22checkAngleByHomographyRSt6vectorIP16CornerDescriptorSaIS1_EES4_P6Matrixf(ptr noundef nonnull align 8 dereferenceable(24) %8, ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef %2, float noundef 0x3FC3333340000000)
          to label %80 unwind label %166

80:                                               ; preds = %78
  %81 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %4, ptr noundef nonnull @.str.29)
          to label %82 unwind label %166

82:                                               ; preds = %80
  %83 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %8) #8
  %84 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %81, i64 noundef %83)
          to label %85 unwind label %166

85:                                               ; preds = %82
  %86 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %84, ptr noundef nonnull @.str.5)
          to label %87 unwind label %166

87:                                               ; preds = %85
  %88 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %86, i32 noundef %15)
          to label %89 unwind label %166

89:                                               ; preds = %87
  %90 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %88, ptr noundef nonnull @.str.26)
          to label %91 unwind label %166

91:                                               ; preds = %89
  %92 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %8) #8
  %93 = uitofp i64 %92 to double
  %94 = fmul double %93, 1.000000e+02
  %95 = fdiv double %94, %49
  %96 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %90, double noundef %95)
          to label %97 unwind label %166

97:                                               ; preds = %91
  %98 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %96, ptr noundef nonnull @.str.27)
          to label %99 unwind label %166

99:                                               ; preds = %97
  %100 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %98, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %101 unwind label %166

101:                                              ; preds = %99
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %10) #8
  invoke void @_ZN6MatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(24) %10)
          to label %102 unwind label %168

102:                                              ; preds = %101
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %11) #8
  invoke void @_ZNK6Matrix7inverseEv(ptr dead_on_unwind nonnull writable sret(%class.Matrix) align 8 %11, ptr noundef nonnull align 8 dereferenceable(24) %2)
          to label %103 unwind label %170

103:                                              ; preds = %102
  %104 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN6MatrixaSERKS_(ptr noundef nonnull align 8 dereferenceable(24) %10, ptr noundef nonnull align 8 dereferenceable(24) %11)
          to label %105 unwind label %172

105:                                              ; preds = %103
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %12) #8
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %12) #8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %13) #8
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %13) #8
  %106 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %4, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %107 unwind label %175

107:                                              ; preds = %105
  %108 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %106, ptr noundef nonnull @.str.30)
          to label %109 unwind label %175

109:                                              ; preds = %107
  %110 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %12) #8
  %111 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %108, i64 noundef %110)
          to label %112 unwind label %175

112:                                              ; preds = %109
  %113 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %111, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %114 unwind label %175

114:                                              ; preds = %112
  %115 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %4, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %116 unwind label %175

116:                                              ; preds = %114
  %117 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %115, ptr noundef nonnull @.str.31)
          to label %118 unwind label %175

118:                                              ; preds = %116
  %119 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %9) #8
  %120 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %117, i64 noundef %119)
          to label %121 unwind label %175

121:                                              ; preds = %118
  %122 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %120, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %123 unwind label %175

123:                                              ; preds = %121
  %124 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %4, ptr noundef nonnull @.str.32)
          to label %125 unwind label %175

125:                                              ; preds = %123
  %126 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %8) #8
  %127 = uitofp i64 %126 to double
  %128 = fmul double %127, 1.000000e+02
  %129 = call i32 @llvm.umin.i32(i32 %15, i32 %17)
  %130 = uitofp i32 %129 to double
  %131 = fdiv double %128, %130
  %132 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %124, double noundef %131)
          to label %133 unwind label %175

133:                                              ; preds = %125
  %134 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %132, ptr noundef nonnull @.str.27)
          to label %135 unwind label %175

135:                                              ; preds = %133
  %136 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %134, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %137 unwind label %175

137:                                              ; preds = %135
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %12) #8
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %13) #8
  %138 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %8) #8
  %139 = uitofp i64 %138 to float
  %.not92 = icmp eq i32 %15, 0
  br i1 %.not92, label %._crit_edge88, label %.lr.ph87

.lr.ph87:                                         ; preds = %137
  %.not93 = icmp eq i32 %17, 0
  br i1 %.not93, label %.lr.ph87.split, label %.lr.ph87.split.us.preheader

.lr.ph87.split.us.preheader:                      ; preds = %.lr.ph87
  %wide.trip.count99 = and i64 %14, 4294967295
  %wide.trip.count = and i64 %16, 4294967295
  br label %.lr.ph87.split.us

.lr.ph87.split.us:                                ; preds = %.lr.ph87.split.us.preheader, %._crit_edge.us
  %indvars.iv96 = phi i64 [ 0, %.lr.ph87.split.us.preheader ], [ %indvars.iv.next97, %._crit_edge.us ]
  %140 = 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.21)
          to label %141 unwind label %.split.us

141:                                              ; preds = %.lr.ph87.split.us
  %142 = trunc nuw i64 %indvars.iv96 to i32
  %143 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %140, i32 noundef %142)
          to label %144 unwind label %.split.us

144:                                              ; preds = %141
  %145 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %143, ptr noundef nonnull @_ZSt5flushIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %.preheader.us unwind label %.split.us

.preheader.us:                                    ; preds = %144, %162
  %indvars.iv = phi i64 [ %indvars.iv.next, %162 ], [ 0, %144 ]
  %146 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %indvars.iv96) #8
  %147 = load ptr, ptr %146, align 8, !tbaa !5
  %148 = call noundef ptr @_ZN16CornerDescriptor6getVecEv(ptr noundef nonnull align 8 dereferenceable(116) %147)
  %149 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %indvars.iv) #8
  %150 = load ptr, ptr %149, align 8, !tbaa !5
  %151 = call noundef ptr @_ZN16CornerDescriptor6getVecEv(ptr noundef nonnull align 8 dereferenceable(116) %150)
  %152 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %indvars.iv) #8
  %153 = load ptr, ptr %152, align 8, !tbaa !5
  %154 = call noundef i32 @_ZNK16CornerDescriptor7getSizeEv(ptr noundef nonnull align 8 dereferenceable(116) %153)
  %155 = invoke noundef float @_Z7distEucPfS_i(ptr noundef %148, ptr noundef %151, i32 noundef %154)
          to label %156 unwind label %.split90.us

156:                                              ; preds = %.preheader.us
  %157 = fcmp olt float %155, %3
  br i1 %157, label %158, label %162

158:                                              ; preds = %156
  %159 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %indvars.iv96) #8
  invoke void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %6, ptr noundef nonnull align 8 dereferenceable(8) %159)
          to label %160 unwind label %.split90.us

160:                                              ; preds = %158
  %161 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %indvars.iv) #8
  invoke void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %7, ptr noundef nonnull align 8 dereferenceable(8) %161)
          to label %162 unwind label %.split90.us

162:                                              ; preds = %160, %156
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, %wide.trip.count
  br i1 %exitcond.not, label %._crit_edge.us, label %.preheader.us, !llvm.loop !9

._crit_edge.us:                                   ; preds = %162
  %indvars.iv.next97 = add nuw nsw i64 %indvars.iv96, 1
  %exitcond100.not = icmp eq i64 %indvars.iv.next97, %wide.trip.count99
  br i1 %exitcond100.not, label %._crit_edge88, label %.lr.ph87.split.us, !llvm.loop !11

.split.us:                                        ; preds = %144, %141, %.lr.ph87.split.us
  %163 = landingpad { ptr, i32 }
          cleanup
  br label %302

.split90.us:                                      ; preds = %160, %158, %.preheader.us
  %164 = landingpad { ptr, i32 }
          cleanup
  br label %302

._crit_edge88:                                    ; preds = %._crit_edge.us, %.preheader, %137
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %8) #8
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %9) #8
  %165 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %4, ptr noundef nonnull @.str.33)
          to label %184 unwind label %232

166:                                              ; preds = %99, %97, %91, %89, %87, %85, %82, %80, %78, %76, %74, %68, %66, %64, %62, %59, %57, %56, %54, %52, %45, %43, %41, %39, %36, %34, %32, %30, %28, %26, %24, %23, %21, %19, %5
  %167 = landingpad { ptr, i32 }
          cleanup
  br label %305

168:                                              ; preds = %101
  %169 = landingpad { ptr, i32 }
          cleanup
  br label %304

170:                                              ; preds = %102
  %171 = landingpad { ptr, i32 }
          cleanup
  br label %174

172:                                              ; preds = %103
  %173 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #8
  br label %174

174:                                              ; preds = %172, %170
  %.pn = phi { ptr, i32 } [ %173, %172 ], [ %171, %170 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #8
  br label %303

175:                                              ; preds = %135, %133, %125, %123, %121, %118, %116, %114, %112, %109, %107, %105
  %176 = landingpad { ptr, i32 }
          cleanup
  br label %302

.lr.ph87.split:                                   ; preds = %.lr.ph87, %.preheader
  %.06685 = phi i32 [ %182, %.preheader ], [ 0, %.lr.ph87 ]
  %177 = 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.21)
          to label %178 unwind label %.split

178:                                              ; preds = %.lr.ph87.split
  %179 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %177, i32 noundef %.06685)
          to label %180 unwind label %.split

180:                                              ; preds = %178
  %181 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %179, ptr noundef nonnull @_ZSt5flushIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %.preheader unwind label %.split

.preheader:                                       ; preds = %180
  %182 = add nuw i32 %.06685, 1
  %exitcond101.not = icmp eq i32 %182, %15
  br i1 %exitcond101.not, label %._crit_edge88, label %.lr.ph87.split, !llvm.loop !11

.split:                                           ; preds = %180, %178, %.lr.ph87.split
  %183 = landingpad { ptr, i32 }
          cleanup
  br label %302

184:                                              ; preds = %._crit_edge88
  %185 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %6) #8
  %186 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %165, i64 noundef %185)
          to label %187 unwind label %232

187:                                              ; preds = %184
  %188 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %186, ptr noundef nonnull @.str.34)
          to label %189 unwind label %232

189:                                              ; preds = %187
  %190 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %188, i32 noundef %15)
          to label %191 unwind label %232

191:                                              ; preds = %189
  %192 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %190, ptr noundef nonnull @.str.26)
          to label %193 unwind label %232

193:                                              ; preds = %191
  %194 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %6) #8
  %195 = uitofp i64 %194 to double
  %196 = fmul double %195, 1.000000e+02
  %197 = fdiv double %196, %49
  %198 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %192, double noundef %197)
          to label %199 unwind label %232

199:                                              ; preds = %193
  %200 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %198, ptr noundef nonnull @.str.27)
          to label %201 unwind label %232

201:                                              ; preds = %199
  %202 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %200, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %203 unwind label %232

203:                                              ; preds = %201
  %204 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %205 unwind label %232

205:                                              ; preds = %203
  %206 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %204, ptr noundef nonnull @.str.33)
          to label %207 unwind label %232

207:                                              ; preds = %205
  %208 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %6) #8
  %209 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %206, i64 noundef %208)
          to label %210 unwind label %232

210:                                              ; preds = %207
  %211 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %209, ptr noundef nonnull @.str.34)
          to label %212 unwind label %232

212:                                              ; preds = %210
  %213 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %211, i32 noundef %15)
          to label %214 unwind label %232

214:                                              ; preds = %212
  %215 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %213, ptr noundef nonnull @.str.26)
          to label %216 unwind label %232

216:                                              ; preds = %214
  %217 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %6) #8
  %218 = uitofp i64 %217 to double
  %219 = fmul double %218, 1.000000e+02
  %220 = fdiv double %219, %49
  %221 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %215, double noundef %220)
          to label %222 unwind label %232

222:                                              ; preds = %216
  %223 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %221, ptr noundef nonnull @.str.27)
          to label %224 unwind label %232

224:                                              ; preds = %222
  %225 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %223, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %226 unwind label %232

226:                                              ; preds = %224
  %227 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %6) #8
  %.not = icmp eq i64 %227, 0
  br i1 %.not, label %234, label %228

228:                                              ; preds = %226
  invoke void @_Z12checkMatchesRSt6vectorIP16CornerDescriptorSaIS1_EES4_P6Matrixfi(ptr noundef nonnull align 8 dereferenceable(24) %6, ptr noundef nonnull align 8 dereferenceable(24) %7, ptr noundef nonnull %2, float noundef 3.000000e+00, i32 noundef 1)
          to label %229 unwind label %232

229:                                              ; preds = %228
  invoke void @_Z22checkScaleByHomographyRSt6vectorIP16CornerDescriptorSaIS1_EES4_P6Matrixf(ptr noundef nonnull align 8 dereferenceable(24) %6, ptr noundef nonnull align 8 dereferenceable(24) %7, ptr noundef nonnull %2, float noundef 0x3FD3333340000000)
          to label %230 unwind label %232

230:                                              ; preds = %229
  %231 = invoke noundef float @_Z22checkAngleByHomographyRSt6vectorIP16CornerDescriptorSaIS1_EES4_P6Matrixf(ptr noundef nonnull align 8 dereferenceable(24) %6, ptr noundef nonnull align 8 dereferenceable(24) %7, ptr noundef nonnull %2, float noundef 0x3FC3333340000000)
          to label %234 unwind label %232

232:                                              ; preds = %296, %294, %288, %286, %284, %282, %279, %277, %275, %273, %266, %264, %262, %260, %257, %255, %253, %251, %245, %243, %241, %239, %236, %234, %230, %229, %228, %224, %222, %216, %214, %212, %210, %207, %205, %203, %201, %199, %193, %191, %189, %187, %184, %._crit_edge88
  %233 = landingpad { ptr, i32 }
          cleanup
  br label %302

234:                                              ; preds = %230, %226
  %235 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %4, ptr noundef nonnull @.str.33)
          to label %236 unwind label %232

236:                                              ; preds = %234
  %237 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %6) #8
  %238 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %235, i64 noundef %237)
          to label %239 unwind label %232

239:                                              ; preds = %236
  %240 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %238, ptr noundef nonnull @.str.35)
          to label %241 unwind label %232

241:                                              ; preds = %239
  %242 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %240, i32 noundef %15)
          to label %243 unwind label %232

243:                                              ; preds = %241
  %244 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %242, ptr noundef nonnull @.str.26)
          to label %245 unwind label %232

245:                                              ; preds = %243
  %246 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %6) #8
  %247 = uitofp i64 %246 to double
  %248 = fmul double %247, 1.000000e+02
  %249 = fdiv double %248, %49
  %250 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %244, double noundef %249)
          to label %251 unwind label %232

251:                                              ; preds = %245
  %252 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %250, ptr noundef nonnull @.str.27)
          to label %253 unwind label %232

253:                                              ; preds = %251
  %254 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %252, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %255 unwind label %232

255:                                              ; preds = %253
  %256 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %4, ptr noundef nonnull @.str.33)
          to label %257 unwind label %232

257:                                              ; preds = %255
  %258 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %6) #8
  %259 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %256, i64 noundef %258)
          to label %260 unwind label %232

260:                                              ; preds = %257
  %261 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %259, ptr noundef nonnull @.str.36)
          to label %262 unwind label %232

262:                                              ; preds = %260
  %263 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEf(ptr noundef nonnull align 8 dereferenceable(8) %261, float noundef %139)
          to label %264 unwind label %232

264:                                              ; preds = %262
  %265 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %263, ptr noundef nonnull @.str.26)
          to label %266 unwind label %232

266:                                              ; preds = %264
  %267 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %6) #8
  %268 = uitofp i64 %267 to double
  %269 = fmul double %268, 1.000000e+02
  %270 = fpext float %139 to double
  %271 = fdiv double %269, %270
  %272 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %265, double noundef %271)
          to label %273 unwind label %232

273:                                              ; preds = %266
  %274 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %272, ptr noundef nonnull @.str.27)
          to label %275 unwind label %232

275:                                              ; preds = %273
  %276 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %274, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %277 unwind label %232

277:                                              ; preds = %275
  %278 = 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.33)
          to label %279 unwind label %232

279:                                              ; preds = %277
  %280 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %6) #8
  %281 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %278, i64 noundef %280)
          to label %282 unwind label %232

282:                                              ; preds = %279
  %283 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %281, ptr noundef nonnull @.str.36)
          to label %284 unwind label %232

284:                                              ; preds = %282
  %285 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEf(ptr noundef nonnull align 8 dereferenceable(8) %283, float noundef %139)
          to label %286 unwind label %232

286:                                              ; preds = %284
  %287 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %285, ptr noundef nonnull @.str.26)
          to label %288 unwind label %232

288:                                              ; preds = %286
  %289 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %6) #8
  %290 = uitofp i64 %289 to double
  %291 = fmul double %290, 1.000000e+02
  %292 = fdiv double %291, %270
  %293 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEd(ptr noundef nonnull align 8 dereferenceable(8) %287, double noundef %292)
          to label %294 unwind label %232

294:                                              ; preds = %288
  %295 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %293, ptr noundef nonnull @.str.27)
          to label %296 unwind label %232

296:                                              ; preds = %294
  %297 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %295, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %298 unwind label %232

298:                                              ; preds = %296
  %299 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %6) #8
  %300 = uitofp i64 %299 to float
  %301 = fdiv float %300, %139
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %13) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %13) #8
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %12) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %12) #8
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #8
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %9) #8
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %8) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %8) #8
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #8
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %6) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %6) #8
  ret float %301

302:                                              ; preds = %.split, %.split.us, %232, %.split90.us, %175
  %.pn77.pn.pn = phi { ptr, i32 } [ %176, %175 ], [ %233, %232 ], [ %164, %.split90.us ], [ %183, %.split ], [ %163, %.split.us ]
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %13) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %13) #8
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %12) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %12) #8
  br label %303

303:                                              ; preds = %302, %174
  %.pn77.pn.pn.pn = phi { ptr, i32 } [ %.pn77.pn.pn, %302 ], [ %.pn, %174 ]
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #8
  br label %304

304:                                              ; preds = %303, %168
  %.pn77.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn77.pn.pn.pn, %303 ], [ %169, %168 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #8
  br label %305

305:                                              ; preds = %304, %166
  %.pn77.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn77.pn.pn.pn.pn, %304 ], [ %167, %166 ]
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %9) #8
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %8) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %8) #8
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #8
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %6) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %6) #8
  resume { ptr, i32 } %.pn77.pn.pn.pn.pn.pn
}

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

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare i32 @llvm.umin.i32(i32, i32) #7

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 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #8 = { 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: CorrelatedValuePropagationPass,EarlyCSEPass,GlobalOptPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LICMPass,LoopRotatePass,LoopSimplifyCFGPass,LoopSimplifyPass,LoopUnrollPass,SROAPass,SimplifyCFGPass