; LLVM IR from niessner/Matterport :: code/gaps/pkgs/RGBD/RGBDCamera.ll (ZN10RGBDCamera18ReadMatterportFileEPKc)

; 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.R4Matrix = type { [4 x [4 x double]] }
%class.RGBDCamera = type <{ i32, i32, i32, i32, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, %class.R4Matrix, ptr, ptr, ptr, ptr, i32, i32, i32, [4 x i8] }>

@R4identity_matrix = external global %class.R4Matrix, align 8
@.str = external hidden unnamed_addr constant [2 x i8], align 1
@stderr = external global ptr, align 8
@.str.1 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.58 = external hidden unnamed_addr constant [34 x i8], align 1
@.str.59 = external hidden unnamed_addr constant [46 x i8], align 1

declare noundef nonnull align 8 dereferenceable(128) ptr @_ZN8R4MatrixaSERKS_(ptr noundef nonnull align 8 dereferenceable(128), ptr noundef nonnull align 8 dereferenceable(128)) #0

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #1

declare noalias ptr @fopen(ptr noundef, ptr noundef) #0

; Function Attrs: nounwind
declare i32 @fprintf(ptr noundef, ptr noundef, ...) #2

declare i32 @fclose(ptr noundef) #0

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN10RGBDCamera18ReadMatterportFileEPKc(ptr noundef nonnull align 8 dereferenceable(348) %0, ptr noundef %1) #3 align 2 {
  %3 = alloca i32, align 4
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca i32, align 4
  %8 = alloca double, align 8
  %9 = alloca double, align 8
  %10 = alloca double, align 8
  %11 = alloca double, align 8
  %12 = alloca double, align 8
  %13 = alloca double, align 8
  %14 = alloca double, align 8
  %15 = alloca double, align 8
  %16 = alloca double, align 8
  %17 = alloca double, align 8
  %18 = alloca double, align 8
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  %19 = load ptr, ptr %4, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #4
  %20 = load ptr, ptr %5, align 8, !tbaa !5
  %21 = call noalias ptr @fopen(ptr noundef %20, ptr noundef @.str)
  store ptr %21, ptr %6, align 8, !tbaa !5
  %22 = load ptr, ptr %6, align 8, !tbaa !5
  %23 = icmp ne ptr %22, null
  br i1 %23, label %28, label %24

24:                                               ; preds = %2
  %25 = load ptr, ptr @stderr, align 8, !tbaa !5
  %26 = load ptr, ptr %5, align 8, !tbaa !5
  %27 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %25, ptr noundef @.str.1, ptr noundef %26) #4
  store i32 0, ptr %3, align 4
  store i32 1, ptr %7, align 4
  br label %97

28:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #4
  %29 = load ptr, ptr %6, align 8, !tbaa !5
  %30 = call i32 (ptr, ptr, ...) @__isoc99_fscanf(ptr noundef %29, ptr noundef @.str.58, ptr noundef %8, ptr noundef %9, ptr noundef %10, ptr noundef %11, ptr noundef %12, ptr noundef %13, ptr noundef %14, ptr noundef %15, ptr noundef %16, ptr noundef %17, ptr noundef %18)
  %31 = icmp ne i32 %30, 11
  br i1 %31, label %32, label %35

32:                                               ; preds = %28
  %33 = load ptr, ptr @stderr, align 8, !tbaa !5
  %34 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %33, ptr noundef @.str.59) #4
  store i32 0, ptr %3, align 4
  store i32 1, ptr %7, align 4
  br label %96

35:                                               ; preds = %28
  %36 = load ptr, ptr %6, align 8, !tbaa !5
  %37 = call i32 @fclose(ptr noundef %36)
  %38 = load double, ptr %8, align 8, !tbaa !9
  %39 = fptosi double %38 to i32
  %40 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 0
  store i32 %39, ptr %40, align 8, !tbaa !11
  %41 = load double, ptr %9, align 8, !tbaa !9
  %42 = fptosi double %41 to i32
  %43 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 1
  store i32 %42, ptr %43, align 4, !tbaa !15
  %44 = load double, ptr %8, align 8, !tbaa !9
  %45 = fptosi double %44 to i32
  %46 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 2
  store i32 %45, ptr %46, align 8, !tbaa !16
  %47 = load double, ptr %9, align 8, !tbaa !9
  %48 = fptosi double %47 to i32
  %49 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 3
  store i32 %48, ptr %49, align 4, !tbaa !17
  %50 = load double, ptr %10, align 8, !tbaa !9
  %51 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 4
  store double %50, ptr %51, align 8, !tbaa !18
  %52 = load double, ptr %11, align 8, !tbaa !9
  %53 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 5
  store double %52, ptr %53, align 8, !tbaa !19
  %54 = load double, ptr %12, align 8, !tbaa !9
  %55 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 6
  store double %54, ptr %55, align 8, !tbaa !20
  %56 = load double, ptr %9, align 8, !tbaa !9
  %57 = load double, ptr %13, align 8, !tbaa !9
  %58 = fsub double %56, %57
  %59 = fsub double %58, 1.000000e+00
  %60 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 7
  store double %59, ptr %60, align 8, !tbaa !21
  %61 = load double, ptr %14, align 8, !tbaa !9
  %62 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 8
  store double %61, ptr %62, align 8, !tbaa !22
  %63 = load double, ptr %15, align 8, !tbaa !9
  %64 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 9
  store double %63, ptr %64, align 8, !tbaa !23
  %65 = load double, ptr %18, align 8, !tbaa !9
  %66 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 10
  store double %65, ptr %66, align 8, !tbaa !24
  %67 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 11
  store double 0.000000e+00, ptr %67, align 8, !tbaa !25
  %68 = load double, ptr %16, align 8, !tbaa !9
  %69 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 12
  store double %68, ptr %69, align 8, !tbaa !26
  %70 = load double, ptr %17, align 8, !tbaa !9
  %71 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 13
  store double %70, ptr %71, align 8, !tbaa !27
  %72 = load double, ptr %10, align 8, !tbaa !9
  %73 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 14
  store double %72, ptr %73, align 8, !tbaa !28
  %74 = load double, ptr %11, align 8, !tbaa !9
  %75 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 15
  store double %74, ptr %75, align 8, !tbaa !29
  %76 = load double, ptr %12, align 8, !tbaa !9
  %77 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 16
  store double %76, ptr %77, align 8, !tbaa !30
  %78 = load double, ptr %9, align 8, !tbaa !9
  %79 = load double, ptr %13, align 8, !tbaa !9
  %80 = fsub double %78, %79
  %81 = fsub double %80, 1.000000e+00
  %82 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 17
  store double %81, ptr %82, align 8, !tbaa !31
  %83 = load double, ptr %14, align 8, !tbaa !9
  %84 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 18
  store double %83, ptr %84, align 8, !tbaa !32
  %85 = load double, ptr %15, align 8, !tbaa !9
  %86 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 19
  store double %85, ptr %86, align 8, !tbaa !33
  %87 = load double, ptr %18, align 8, !tbaa !9
  %88 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 20
  store double %87, ptr %88, align 8, !tbaa !34
  %89 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 21
  store double 0.000000e+00, ptr %89, align 8, !tbaa !35
  %90 = load double, ptr %16, align 8, !tbaa !9
  %91 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 22
  store double %90, ptr %91, align 8, !tbaa !36
  %92 = load double, ptr %17, align 8, !tbaa !9
  %93 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 23
  store double %92, ptr %93, align 8, !tbaa !37
  %94 = getelementptr inbounds %class.RGBDCamera, ptr %19, i32 0, i32 24
  %95 = call noundef nonnull align 8 dereferenceable(128) ptr @_ZN8R4MatrixaSERKS_(ptr noundef nonnull align 8 dereferenceable(128) %94, ptr noundef nonnull align 8 dereferenceable(128) @R4identity_matrix)
  store i32 1, ptr %3, align 4
  store i32 1, ptr %7, align 4
  br label %96

96:                                               ; preds = %35, %32
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #4
  br label %97

97:                                               ; preds = %96, %24
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #4
  %98 = load i32, ptr %3, align 4
  ret i32 %98
}

declare i32 @__isoc99_fscanf(ptr noundef, ptr noundef, ...) #0

attributes #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 #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
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 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"double", !7, i64 0}
!11 = !{!12, !13, i64 0}
!12 = !{!"_ZTS10RGBDCamera", !13, i64 0, !13, i64 4, !13, i64 8, !13, i64 12, !10, i64 16, !10, i64 24, !10, i64 32, !10, i64 40, !10, i64 48, !10, i64 56, !10, i64 64, !10, i64 72, !10, i64 80, !10, i64 88, !10, i64 96, !10, i64 104, !10, i64 112, !10, i64 120, !10, i64 128, !10, i64 136, !10, i64 144, !10, i64 152, !10, i64 160, !10, i64 168, !14, i64 176, !6, i64 304, !6, i64 312, !6, i64 320, !6, i64 328, !13, i64 336, !13, i64 340, !13, i64 344}
!13 = !{!"int", !7, i64 0}
!14 = !{!"_ZTS8R4Matrix", !7, i64 0}
!15 = !{!12, !13, i64 4}
!16 = !{!12, !13, i64 8}
!17 = !{!12, !13, i64 12}
!18 = !{!12, !10, i64 16}
!19 = !{!12, !10, i64 24}
!20 = !{!12, !10, i64 32}
!21 = !{!12, !10, i64 40}
!22 = !{!12, !10, i64 48}
!23 = !{!12, !10, i64 56}
!24 = !{!12, !10, i64 64}
!25 = !{!12, !10, i64 72}
!26 = !{!12, !10, i64 80}
!27 = !{!12, !10, i64 88}
!28 = !{!12, !10, i64 96}
!29 = !{!12, !10, i64 104}
!30 = !{!12, !10, i64 112}
!31 = !{!12, !10, i64 120}
!32 = !{!12, !10, i64 128}
!33 = !{!12, !10, i64 136}
!34 = !{!12, !10, i64 144}
!35 = !{!12, !10, i64 152}
!36 = !{!12, !10, i64 160}
!37 = !{!12, !10, i64 168}


; 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.R4Matrix = type { [4 x [4 x double]] }

@R4identity_matrix = external global %class.R4Matrix, align 8
@.str = external hidden unnamed_addr constant [2 x i8], align 1
@stderr = external local_unnamed_addr global ptr, align 8
@.str.1 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.58 = external hidden unnamed_addr constant [34 x i8], align 1
@.str.59 = external hidden unnamed_addr constant [46 x i8], align 1

declare noundef nonnull align 8 dereferenceable(128) ptr @_ZN8R4MatrixaSERKS_(ptr noundef nonnull align 8 dereferenceable(128), ptr noundef nonnull align 8 dereferenceable(128)) local_unnamed_addr #0

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: nofree nounwind
declare noalias noundef ptr @fopen(ptr nocapture noundef readonly, ptr nocapture noundef readonly) local_unnamed_addr #2

; Function Attrs: nofree nounwind
declare noundef i32 @fprintf(ptr nocapture noundef, ptr nocapture noundef readonly, ...) local_unnamed_addr #2

; Function Attrs: nofree nounwind
declare noundef i32 @fclose(ptr nocapture noundef) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
define dso_local noundef range(i32 0, 2) i32 @_ZN10RGBDCamera18ReadMatterportFileEPKc(ptr noundef nonnull align 8 dereferenceable(348) %0, ptr noundef %1) local_unnamed_addr #3 align 2 {
  %3 = alloca double, align 8
  %4 = alloca double, align 8
  %5 = alloca double, align 8
  %6 = alloca double, align 8
  %7 = alloca double, align 8
  %8 = alloca double, align 8
  %9 = alloca double, align 8
  %10 = alloca double, align 8
  %11 = alloca double, align 8
  %12 = alloca double, align 8
  %13 = alloca double, align 8
  %14 = tail call noalias ptr @fopen(ptr noundef %1, ptr noundef nonnull @.str)
  %.not = icmp eq ptr %14, null
  br i1 %.not, label %15, label %18

15:                                               ; preds = %2
  %16 = load ptr, ptr @stderr, align 8, !tbaa !5
  %17 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %16, ptr noundef nonnull @.str.1, ptr noundef %1) #4
  br label %65

18:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #5
  %19 = call i32 (ptr, ptr, ...) @__isoc99_fscanf(ptr noundef nonnull %14, ptr noundef nonnull @.str.58, ptr noundef nonnull %3, ptr noundef nonnull %4, ptr noundef nonnull %5, ptr noundef nonnull %6, ptr noundef nonnull %7, ptr noundef nonnull %8, ptr noundef nonnull %9, ptr noundef nonnull %10, ptr noundef nonnull %11, ptr noundef nonnull %12, ptr noundef nonnull %13)
  %.not7 = icmp eq i32 %19, 11
  br i1 %.not7, label %23, label %20

20:                                               ; preds = %18
  %21 = load ptr, ptr @stderr, align 8, !tbaa !5
  %22 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %21, ptr noundef nonnull @.str.59) #4
  br label %64

23:                                               ; preds = %18
  %24 = call i32 @fclose(ptr noundef nonnull %14)
  %25 = load double, ptr %3, align 8, !tbaa !9
  %26 = load double, ptr %4, align 8, !tbaa !9
  %27 = insertelement <2 x double> poison, double %25, i64 0
  %28 = insertelement <2 x double> %27, double %26, i64 1
  %29 = fptosi <2 x double> %28 to <2 x i32>
  %30 = shufflevector <2 x i32> %29, <2 x i32> poison, <4 x i32> <i32 0, i32 1, i32 0, i32 1>
  store <4 x i32> %30, ptr %0, align 8, !tbaa !11
  %31 = load double, ptr %5, align 8, !tbaa !9
  %32 = getelementptr inbounds i8, ptr %0, i64 16
  store double %31, ptr %32, align 8, !tbaa !13
  %33 = load double, ptr %6, align 8, !tbaa !9
  %34 = getelementptr inbounds i8, ptr %0, i64 24
  store double %33, ptr %34, align 8, !tbaa !16
  %35 = load double, ptr %7, align 8, !tbaa !9
  %36 = getelementptr inbounds i8, ptr %0, i64 32
  store double %35, ptr %36, align 8, !tbaa !17
  %37 = load double, ptr %8, align 8, !tbaa !9
  %38 = fsub double %26, %37
  %39 = fadd double %38, -1.000000e+00
  %40 = getelementptr inbounds i8, ptr %0, i64 40
  store double %39, ptr %40, align 8, !tbaa !18
  %41 = load double, ptr %9, align 8, !tbaa !9
  %42 = getelementptr inbounds i8, ptr %0, i64 48
  store double %41, ptr %42, align 8, !tbaa !19
  %43 = load double, ptr %10, align 8, !tbaa !9
  %44 = getelementptr inbounds i8, ptr %0, i64 56
  store double %43, ptr %44, align 8, !tbaa !20
  %45 = load double, ptr %13, align 8, !tbaa !9
  %46 = getelementptr inbounds i8, ptr %0, i64 64
  store double %45, ptr %46, align 8, !tbaa !21
  %47 = getelementptr inbounds i8, ptr %0, i64 72
  store double 0.000000e+00, ptr %47, align 8, !tbaa !22
  %48 = load double, ptr %11, align 8, !tbaa !9
  %49 = getelementptr inbounds i8, ptr %0, i64 80
  store double %48, ptr %49, align 8, !tbaa !23
  %50 = load double, ptr %12, align 8, !tbaa !9
  %51 = getelementptr inbounds i8, ptr %0, i64 88
  store double %50, ptr %51, align 8, !tbaa !24
  %52 = getelementptr inbounds i8, ptr %0, i64 96
  store double %31, ptr %52, align 8, !tbaa !25
  %53 = getelementptr inbounds i8, ptr %0, i64 104
  store double %33, ptr %53, align 8, !tbaa !26
  %54 = getelementptr inbounds i8, ptr %0, i64 112
  store double %35, ptr %54, align 8, !tbaa !27
  %55 = getelementptr inbounds i8, ptr %0, i64 120
  store double %39, ptr %55, align 8, !tbaa !28
  %56 = getelementptr inbounds i8, ptr %0, i64 128
  store double %41, ptr %56, align 8, !tbaa !29
  %57 = getelementptr inbounds i8, ptr %0, i64 136
  store double %43, ptr %57, align 8, !tbaa !30
  %58 = getelementptr inbounds i8, ptr %0, i64 144
  store double %45, ptr %58, align 8, !tbaa !31
  %59 = getelementptr inbounds i8, ptr %0, i64 152
  store double 0.000000e+00, ptr %59, align 8, !tbaa !32
  %60 = getelementptr inbounds i8, ptr %0, i64 160
  store double %48, ptr %60, align 8, !tbaa !33
  %61 = getelementptr inbounds i8, ptr %0, i64 168
  store double %50, ptr %61, align 8, !tbaa !34
  %62 = getelementptr inbounds i8, ptr %0, i64 176
  %63 = call noundef nonnull align 8 dereferenceable(128) ptr @_ZN8R4MatrixaSERKS_(ptr noundef nonnull align 8 dereferenceable(128) %62, ptr noundef nonnull align 8 dereferenceable(128) @R4identity_matrix)
  br label %64

64:                                               ; preds = %23, %20
  %.0 = phi i32 [ 0, %20 ], [ 1, %23 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #5
  br label %65

65:                                               ; preds = %64, %15
  %.1 = phi i32 [ %.0, %64 ], [ 0, %15 ]
  ret i32 %.1
}

declare i32 @__isoc99_fscanf(ptr noundef, ptr noundef, ...) local_unnamed_addr #0

attributes #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 #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { nofree 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 = { cold nounwind }
attributes #5 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"double", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = !{!14, !10, i64 16}
!14 = !{!"_ZTS10RGBDCamera", !12, i64 0, !12, i64 4, !12, i64 8, !12, i64 12, !10, i64 16, !10, i64 24, !10, i64 32, !10, i64 40, !10, i64 48, !10, i64 56, !10, i64 64, !10, i64 72, !10, i64 80, !10, i64 88, !10, i64 96, !10, i64 104, !10, i64 112, !10, i64 120, !10, i64 128, !10, i64 136, !10, i64 144, !10, i64 152, !10, i64 160, !10, i64 168, !15, i64 176, !6, i64 304, !6, i64 312, !6, i64 320, !6, i64 328, !12, i64 336, !12, i64 340, !12, i64 344}
!15 = !{!"_ZTS8R4Matrix", !7, i64 0}
!16 = !{!14, !10, i64 24}
!17 = !{!14, !10, i64 32}
!18 = !{!14, !10, i64 40}
!19 = !{!14, !10, i64 48}
!20 = !{!14, !10, i64 56}
!21 = !{!14, !10, i64 64}
!22 = !{!14, !10, i64 72}
!23 = !{!14, !10, i64 80}
!24 = !{!14, !10, i64 88}
!25 = !{!14, !10, i64 96}
!26 = !{!14, !10, i64 104}
!27 = !{!14, !10, i64 112}
!28 = !{!14, !10, i64 120}
!29 = !{!14, !10, i64 128}
!30 = !{!14, !10, i64 136}
!31 = !{!14, !10, i64 144}
!32 = !{!14, !10, i64 152}
!33 = !{!14, !10, i64 160}
!34 = !{!14, !10, i64 168}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,IPSCCPPass,InferFunctionAttrsPass,InstCombinePass,SLPVectorizerPass,SROAPass,TailCallElimPass