; LLVM IR from Zhefan-Xu/onboard_detector :: include/onboard_detector/dbscan.ll (ZN15onboardDetector6DBSCAN13expandClusterENS_6Point_Ei)

; 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"

%"struct.onboardDetector::Point_" = type { float, float, float, i32 }
%"class.std::vector.0" = type { %"struct.std::_Vector_base.1" }
%"struct.std::_Vector_base.1" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.__gnu_cxx::__normal_iterator.5" = type { ptr }
%"class.__gnu_cxx::__normal_iterator.6" = type { ptr }
%"class.onboardDetector::DBSCAN" = type <{ %"class.std::vector", i32, i32, float, [4 x i8] }>
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<onboardDetector::Point_, std::allocator<onboardDetector::Point_>>::_Vector_impl" }
%"struct.std::_Vector_base<onboardDetector::Point_, std::allocator<onboardDetector::Point_>>::_Vector_impl" = type { %"struct.std::_Vector_base<onboardDetector::Point_, std::allocator<onboardDetector::Point_>>::_Vector_impl_data" }
%"struct.std::_Vector_base<onboardDetector::Point_, std::allocator<onboardDetector::Point_>>::_Vector_impl_data" = type { ptr, ptr, ptr }

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

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #1

; 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
define dso_local noundef i32 @_ZN15onboardDetector6DBSCAN13expandClusterENS_6Point_Ei(ptr noundef nonnull align 8 dereferenceable(36) %0, <2 x float> %1, i64 %2, i32 noundef %3) #2 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca i32, align 4
  %6 = alloca %"struct.onboardDetector::Point_", align 4
  %7 = alloca ptr, align 8
  %8 = alloca i32, align 4
  %9 = alloca %"class.std::vector.0", align 8
  %10 = alloca %"struct.onboardDetector::Point_", align 4
  %11 = alloca i32, align 4
  %12 = alloca i32, align 4
  %13 = alloca i32, align 4
  %14 = alloca %"class.__gnu_cxx::__normal_iterator.5", align 8
  %15 = alloca %"class.__gnu_cxx::__normal_iterator.5", align 8
  %16 = alloca %"class.__gnu_cxx::__normal_iterator.5", align 8
  %17 = alloca ptr, align 8
  %18 = alloca i32, align 4
  %19 = alloca %"class.__gnu_cxx::__normal_iterator.6", align 8
  %20 = alloca %"class.__gnu_cxx::__normal_iterator.5", align 8
  %21 = alloca %"class.__gnu_cxx::__normal_iterator.5", align 8
  %22 = alloca %"class.__gnu_cxx::__normal_iterator.5", align 8
  %23 = alloca i64, align 8
  %24 = alloca i64, align 8
  %25 = alloca %"class.std::vector.0", align 8
  %26 = alloca %"struct.onboardDetector::Point_", align 4
  %27 = alloca %"class.__gnu_cxx::__normal_iterator.5", align 8
  %28 = alloca %"class.__gnu_cxx::__normal_iterator.5", align 8
  %29 = alloca %"class.__gnu_cxx::__normal_iterator.5", align 8
  %30 = getelementptr inbounds { <2 x float>, i64 }, ptr %6, i32 0, i32 0
  store <2 x float> %1, ptr %30, align 4
  %31 = getelementptr inbounds { <2 x float>, i64 }, ptr %6, i32 0, i32 1
  store i64 %2, ptr %31, align 4
  store ptr %0, ptr %7, align 8, !tbaa !5
  store i32 %3, ptr %8, align 4, !tbaa !9
  %32 = load ptr, ptr %7, align 8
  call void @llvm.lifetime.start.p0(i64 24, ptr %9) #6
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %10, ptr align 4 %6, i64 16, i1 false), !tbaa.struct !11
  %33 = getelementptr inbounds { <2 x float>, i64 }, ptr %10, i32 0, i32 0
  %34 = load <2 x float>, ptr %33, align 4
  %35 = getelementptr inbounds { <2 x float>, i64 }, ptr %10, i32 0, i32 1
  %36 = load i64, ptr %35, align 4
  call void @_ZN15onboardDetector6DBSCAN16calculateClusterENS_6Point_E(ptr dead_on_unwind writable sret(%"class.std::vector.0") align 8 %9, ptr noundef nonnull align 8 dereferenceable(36) %32, <2 x float> %34, i64 %36)
  %37 = call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %9) #6
  %38 = getelementptr inbounds %"class.onboardDetector::DBSCAN", ptr %32, i32 0, i32 2
  %39 = load i32, ptr %38, align 4, !tbaa !14
  %40 = zext i32 %39 to i64
  %41 = icmp ult i64 %37, %40
  br i1 %41, label %42, label %44

42:                                               ; preds = %4
  %43 = getelementptr inbounds %"struct.onboardDetector::Point_", ptr %6, i32 0, i32 3
  store i32 -2, ptr %43, align 4, !tbaa !20
  store i32 -3, ptr %5, align 4
  store i32 1, ptr %11, align 4
  br label %215

44:                                               ; preds = %4
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #6
  store i32 0, ptr %12, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #6
  store i32 0, ptr %13, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #6
  call void @_ZN9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(8) %14) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #6
  %45 = call ptr @_ZNSt6vectorIiSaIiEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %9) #6
  %46 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.5", ptr %15, i32 0, i32 0
  store ptr %45, ptr %46, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %14, ptr align 8 %15, i64 8, i1 false), !tbaa.struct !22
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #6
  br label %47

47:                                               ; preds = %104, %44
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #6
  %48 = call ptr @_ZNSt6vectorIiSaIiEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %9) #6
  %49 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.5", ptr %16, i32 0, i32 0
  store ptr %48, ptr %49, align 8
  %50 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPiSt6vectorIiSaIiEEEEbRKNS_17__normal_iteratorIT_T0_EESA_(ptr noundef nonnull align 8 dereferenceable(8) %14, ptr noundef nonnull align 8 dereferenceable(8) %16) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #6
  br i1 %50, label %51, label %106

51:                                               ; preds = %47
  %52 = load i32, ptr %8, align 4, !tbaa !9
  %53 = getelementptr inbounds %"class.onboardDetector::DBSCAN", ptr %32, i32 0, i32 0
  %54 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %14) #6
  %55 = load i32, ptr %54, align 4, !tbaa !9
  %56 = sext i32 %55 to i64
  %57 = invoke noundef nonnull align 4 dereferenceable(16) ptr @_ZNSt6vectorIN15onboardDetector6Point_ESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %53, i64 noundef %56)
          to label %58 unwind label %97

58:                                               ; preds = %51
  %59 = getelementptr inbounds %"struct.onboardDetector::Point_", ptr %57, i32 0, i32 3
  store i32 %52, ptr %59, align 4, !tbaa !20
  %60 = getelementptr inbounds %"class.onboardDetector::DBSCAN", ptr %32, i32 0, i32 0
  %61 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %14) #6
  %62 = load i32, ptr %61, align 4, !tbaa !9
  %63 = sext i32 %62 to i64
  %64 = invoke noundef nonnull align 4 dereferenceable(16) ptr @_ZNSt6vectorIN15onboardDetector6Point_ESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %60, i64 noundef %63)
          to label %65 unwind label %97

65:                                               ; preds = %58
  %66 = getelementptr inbounds %"struct.onboardDetector::Point_", ptr %64, i32 0, i32 0
  %67 = load float, ptr %66, align 4, !tbaa !23
  %68 = getelementptr inbounds %"struct.onboardDetector::Point_", ptr %6, i32 0, i32 0
  %69 = load float, ptr %68, align 4, !tbaa !23
  %70 = fcmp oeq float %67, %69
  br i1 %70, label %71, label %101

71:                                               ; preds = %65
  %72 = getelementptr inbounds %"class.onboardDetector::DBSCAN", ptr %32, i32 0, i32 0
  %73 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %14) #6
  %74 = load i32, ptr %73, align 4, !tbaa !9
  %75 = sext i32 %74 to i64
  %76 = invoke noundef nonnull align 4 dereferenceable(16) ptr @_ZNSt6vectorIN15onboardDetector6Point_ESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %72, i64 noundef %75)
          to label %77 unwind label %97

77:                                               ; preds = %71
  %78 = getelementptr inbounds %"struct.onboardDetector::Point_", ptr %76, i32 0, i32 1
  %79 = load float, ptr %78, align 4, !tbaa !24
  %80 = getelementptr inbounds %"struct.onboardDetector::Point_", ptr %6, i32 0, i32 1
  %81 = load float, ptr %80, align 4, !tbaa !24
  %82 = fcmp oeq float %79, %81
  br i1 %82, label %83, label %101

83:                                               ; preds = %77
  %84 = getelementptr inbounds %"class.onboardDetector::DBSCAN", ptr %32, i32 0, i32 0
  %85 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %14) #6
  %86 = load i32, ptr %85, align 4, !tbaa !9
  %87 = sext i32 %86 to i64
  %88 = invoke noundef nonnull align 4 dereferenceable(16) ptr @_ZNSt6vectorIN15onboardDetector6Point_ESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %84, i64 noundef %87)
          to label %89 unwind label %97

89:                                               ; preds = %83
  %90 = getelementptr inbounds %"struct.onboardDetector::Point_", ptr %88, i32 0, i32 2
  %91 = load float, ptr %90, align 4, !tbaa !25
  %92 = getelementptr inbounds %"struct.onboardDetector::Point_", ptr %6, i32 0, i32 2
  %93 = load float, ptr %92, align 4, !tbaa !25
  %94 = fcmp oeq float %91, %93
  br i1 %94, label %95, label %101

95:                                               ; preds = %89
  %96 = load i32, ptr %12, align 4, !tbaa !9
  store i32 %96, ptr %13, align 4, !tbaa !9
  br label %101

97:                                               ; preds = %83, %71, %58, %51
  %98 = landingpad { ptr, i32 }
          cleanup
  %99 = extractvalue { ptr, i32 } %98, 0
  store ptr %99, ptr %17, align 8
  %100 = extractvalue { ptr, i32 } %98, 1
  store i32 %100, ptr %18, align 4
  br label %214

101:                                              ; preds = %95, %89, %77, %65
  %102 = load i32, ptr %12, align 4, !tbaa !9
  %103 = add nsw i32 %102, 1
  store i32 %103, ptr %12, align 4, !tbaa !9
  br label %104

104:                                              ; preds = %101
  %105 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %14) #6
  br label %47, !llvm.loop !26

106:                                              ; preds = %47
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #6
  %107 = call ptr @_ZNSt6vectorIiSaIiEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %9) #6
  %108 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.5", ptr %21, i32 0, i32 0
  store ptr %107, ptr %108, align 8
  %109 = load i32, ptr %13, align 4, !tbaa !9
  %110 = sext i32 %109 to i64
  %111 = call ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEplEl(ptr noundef nonnull align 8 dereferenceable(8) %21, i64 noundef %110) #6
  %112 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.5", ptr %20, i32 0, i32 0
  store ptr %111, ptr %112, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKiSt6vectorIiSaIiEEEC2IPivEERKNS0_IT_S5_EE(ptr noundef nonnull align 8 dereferenceable(8) %19, ptr noundef nonnull align 8 dereferenceable(8) %20) #6
  %113 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.6", ptr %19, i32 0, i32 0
  %114 = load ptr, ptr %113, align 8
  %115 = invoke ptr @_ZNSt6vectorIiSaIiEE5eraseEN9__gnu_cxx17__normal_iteratorIPKiS1_EE(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr %114)
          to label %116 unwind label %124

116:                                              ; preds = %106
  %117 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.5", ptr %22, i32 0, i32 0
  store ptr %115, ptr %117, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #6
  store i64 0, ptr %23, align 8, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #6
  %118 = call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %9) #6
  store i64 %118, ptr %24, align 8, !tbaa !28
  br label %119

119:                                              ; preds = %209, %116
  %120 = load i64, ptr %23, align 8, !tbaa !28
  %121 = load i64, ptr %24, align 8, !tbaa !28
  %122 = icmp ult i64 %120, %121
  br i1 %122, label %128, label %123

123:                                              ; preds = %119
  store i32 5, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #6
  br label %213

124:                                              ; preds = %106
  %125 = landingpad { ptr, i32 }
          cleanup
  %126 = extractvalue { ptr, i32 } %125, 0
  store ptr %126, ptr %17, align 8
  %127 = extractvalue { ptr, i32 } %125, 1
  store i32 %127, ptr %18, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #6
  br label %214

128:                                              ; preds = %119
  call void @llvm.lifetime.start.p0(i64 24, ptr %25) #6
  %129 = getelementptr inbounds %"class.onboardDetector::DBSCAN", ptr %32, i32 0, i32 0
  %130 = load i64, ptr %23, align 8, !tbaa !28
  %131 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %9, i64 noundef %130) #6
  %132 = load i32, ptr %131, align 4, !tbaa !9
  %133 = sext i32 %132 to i64
  %134 = invoke noundef nonnull align 4 dereferenceable(16) ptr @_ZNSt6vectorIN15onboardDetector6Point_ESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %129, i64 noundef %133)
          to label %135 unwind label %187

135:                                              ; preds = %128
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %26, ptr align 4 %134, i64 16, i1 false), !tbaa.struct !11
  %136 = getelementptr inbounds { <2 x float>, i64 }, ptr %26, i32 0, i32 0
  %137 = load <2 x float>, ptr %136, align 4
  %138 = getelementptr inbounds { <2 x float>, i64 }, ptr %26, i32 0, i32 1
  %139 = load i64, ptr %138, align 4
  invoke void @_ZN15onboardDetector6DBSCAN16calculateClusterENS_6Point_E(ptr dead_on_unwind writable sret(%"class.std::vector.0") align 8 %25, ptr noundef nonnull align 8 dereferenceable(36) %32, <2 x float> %137, i64 %139)
          to label %140 unwind label %187

140:                                              ; preds = %135
  %141 = call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %25) #6
  %142 = getelementptr inbounds %"class.onboardDetector::DBSCAN", ptr %32, i32 0, i32 2
  %143 = load i32, ptr %142, align 4, !tbaa !14
  %144 = zext i32 %143 to i64
  %145 = icmp uge i64 %141, %144
  br i1 %145, label %146, label %208

146:                                              ; preds = %140
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #6
  call void @_ZN9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(8) %27) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #6
  %147 = call ptr @_ZNSt6vectorIiSaIiEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %25) #6
  %148 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.5", ptr %28, i32 0, i32 0
  store ptr %147, ptr %148, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %27, ptr align 8 %28, i64 8, i1 false), !tbaa.struct !22
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #6
  br label %149

149:                                              ; preds = %205, %146
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #6
  %150 = call ptr @_ZNSt6vectorIiSaIiEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %25) #6
  %151 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.5", ptr %29, i32 0, i32 0
  store ptr %150, ptr %151, align 8
  %152 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPiSt6vectorIiSaIiEEEEbRKNS_17__normal_iteratorIT_T0_EESA_(ptr noundef nonnull align 8 dereferenceable(8) %27, ptr noundef nonnull align 8 dereferenceable(8) %29) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #6
  br i1 %152, label %153, label %207

153:                                              ; preds = %149
  %154 = getelementptr inbounds %"class.onboardDetector::DBSCAN", ptr %32, i32 0, i32 0
  %155 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %27) #6
  %156 = load i32, ptr %155, align 4, !tbaa !9
  %157 = sext i32 %156 to i64
  %158 = invoke noundef nonnull align 4 dereferenceable(16) ptr @_ZNSt6vectorIN15onboardDetector6Point_ESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %154, i64 noundef %157)
          to label %159 unwind label %191

159:                                              ; preds = %153
  %160 = getelementptr inbounds %"struct.onboardDetector::Point_", ptr %158, i32 0, i32 3
  %161 = load i32, ptr %160, align 4, !tbaa !20
  %162 = icmp eq i32 %161, -1
  br i1 %162, label %173, label %163

163:                                              ; preds = %159
  %164 = getelementptr inbounds %"class.onboardDetector::DBSCAN", ptr %32, i32 0, i32 0
  %165 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %27) #6
  %166 = load i32, ptr %165, align 4, !tbaa !9
  %167 = sext i32 %166 to i64
  %168 = invoke noundef nonnull align 4 dereferenceable(16) ptr @_ZNSt6vectorIN15onboardDetector6Point_ESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %164, i64 noundef %167)
          to label %169 unwind label %191

169:                                              ; preds = %163
  %170 = getelementptr inbounds %"struct.onboardDetector::Point_", ptr %168, i32 0, i32 3
  %171 = load i32, ptr %170, align 4, !tbaa !20
  %172 = icmp eq i32 %171, -2
  br i1 %172, label %173, label %204

173:                                              ; preds = %169, %159
  %174 = getelementptr inbounds %"class.onboardDetector::DBSCAN", ptr %32, i32 0, i32 0
  %175 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %27) #6
  %176 = load i32, ptr %175, align 4, !tbaa !9
  %177 = sext i32 %176 to i64
  %178 = invoke noundef nonnull align 4 dereferenceable(16) ptr @_ZNSt6vectorIN15onboardDetector6Point_ESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %174, i64 noundef %177)
          to label %179 unwind label %191

179:                                              ; preds = %173
  %180 = getelementptr inbounds %"struct.onboardDetector::Point_", ptr %178, i32 0, i32 3
  %181 = load i32, ptr %180, align 4, !tbaa !20
  %182 = icmp eq i32 %181, -1
  br i1 %182, label %183, label %195

183:                                              ; preds = %179
  %184 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %27) #6
  invoke void @_ZNSt6vectorIiSaIiEE9push_backERKi(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 4 dereferenceable(4) %184)
          to label %185 unwind label %191

185:                                              ; preds = %183
  %186 = call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %9) #6
  store i64 %186, ptr %24, align 8, !tbaa !28
  br label %195

187:                                              ; preds = %135, %128
  %188 = landingpad { ptr, i32 }
          cleanup
  %189 = extractvalue { ptr, i32 } %188, 0
  store ptr %189, ptr %17, align 8
  %190 = extractvalue { ptr, i32 } %188, 1
  store i32 %190, ptr %18, align 4
  br label %212

191:                                              ; preds = %195, %183, %173, %163, %153
  %192 = landingpad { ptr, i32 }
          cleanup
  %193 = extractvalue { ptr, i32 } %192, 0
  store ptr %193, ptr %17, align 8
  %194 = extractvalue { ptr, i32 } %192, 1
  store i32 %194, ptr %18, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #6
  call void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %25) #6
  br label %212

195:                                              ; preds = %185, %179
  %196 = load i32, ptr %8, align 4, !tbaa !9
  %197 = getelementptr inbounds %"class.onboardDetector::DBSCAN", ptr %32, i32 0, i32 0
  %198 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %27) #6
  %199 = load i32, ptr %198, align 4, !tbaa !9
  %200 = sext i32 %199 to i64
  %201 = invoke noundef nonnull align 4 dereferenceable(16) ptr @_ZNSt6vectorIN15onboardDetector6Point_ESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %197, i64 noundef %200)
          to label %202 unwind label %191

202:                                              ; preds = %195
  %203 = getelementptr inbounds %"struct.onboardDetector::Point_", ptr %201, i32 0, i32 3
  store i32 %196, ptr %203, align 4, !tbaa !20
  br label %204

204:                                              ; preds = %202, %169
  br label %205

205:                                              ; preds = %204
  %206 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %27) #6
  br label %149, !llvm.loop !30

207:                                              ; preds = %149
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #6
  br label %208

208:                                              ; preds = %207, %140
  call void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %25) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %25) #6
  br label %209

209:                                              ; preds = %208
  %210 = load i64, ptr %23, align 8, !tbaa !28
  %211 = add i64 %210, 1
  store i64 %211, ptr %23, align 8, !tbaa !28
  br label %119, !llvm.loop !31

212:                                              ; preds = %191, %187
  call void @llvm.lifetime.end.p0(i64 24, ptr %25) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #6
  br label %214

213:                                              ; preds = %123
  store i32 0, ptr %5, align 4
  store i32 1, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #6
  br label %215

214:                                              ; preds = %212, %124, %97
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #6
  call void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %9) #6
  br label %217

215:                                              ; preds = %213, %42
  call void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %9) #6
  %216 = load i32, ptr %5, align 4
  ret i32 %216

217:                                              ; preds = %214
  %218 = load ptr, ptr %17, align 8
  %219 = load i32, ptr %18, align 4
  %220 = insertvalue { ptr, i32 } poison, ptr %218, 0
  %221 = insertvalue { ptr, i32 } %220, i32 %219, 1
  resume { ptr, i32 } %221
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15onboardDetector6DBSCAN16calculateClusterENS_6Point_E(ptr dead_on_unwind noalias writable sret(%"class.std::vector.0") align 8, ptr noundef nonnull align 8 dereferenceable(36), <2 x float>, i64) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIiSaIiEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxneIPiSt6vectorIiSaIiEEEEbRKNS_17__normal_iteratorIT_T0_EESA_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIiSaIiEE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(16) ptr @_ZNSt6vectorIN15onboardDetector6Point_ESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #3 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZNSt6vectorIiSaIiEE5eraseEN9__gnu_cxx17__normal_iteratorIPKiS1_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEplEl(ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN9__gnu_cxx17__normal_iteratorIPKiSt6vectorIiSaIiEEEC2IPivEERKNS0_IT_S5_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIiSaIiEE9push_backERKi(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(4)) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="64" "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 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 #4 = { 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 #5 = { 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 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{i64 0, i64 4, !12, i64 4, i64 4, !12, i64 8, i64 4, !12, i64 12, i64 4, !9}
!12 = !{!13, !13, i64 0}
!13 = !{!"float", !7, i64 0}
!14 = !{!15, !10, i64 28}
!15 = !{!"_ZTSN15onboardDetector6DBSCANE", !16, i64 0, !10, i64 24, !10, i64 28, !13, i64 32}
!16 = !{!"_ZTSSt6vectorIN15onboardDetector6Point_ESaIS1_EE", !17, i64 0}
!17 = !{!"_ZTSSt12_Vector_baseIN15onboardDetector6Point_ESaIS1_EE", !18, i64 0}
!18 = !{!"_ZTSNSt12_Vector_baseIN15onboardDetector6Point_ESaIS1_EE12_Vector_implE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseIN15onboardDetector6Point_ESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!20 = !{!21, !10, i64 12}
!21 = !{!"_ZTSN15onboardDetector6Point_E", !13, i64 0, !13, i64 4, !13, i64 8, !10, i64 12}
!22 = !{i64 0, i64 8, !5}
!23 = !{!21, !13, i64 0}
!24 = !{!21, !13, i64 4}
!25 = !{!21, !13, i64 8}
!26 = distinct !{!26, !27}
!27 = !{!"llvm.loop.mustprogress"}
!28 = !{!29, !29, i64 0}
!29 = !{!"long", !7, i64 0}
!30 = distinct !{!30, !27}
!31 = distinct !{!31, !27}


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

%"class.std::vector.0" = type { %"struct.std::_Vector_base.1" }
%"struct.std::_Vector_base.1" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.__gnu_cxx::__normal_iterator.5" = type { ptr }
%"class.__gnu_cxx::__normal_iterator.6" = type { ptr }

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

; 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
define dso_local noundef range(i32 -3, 1) i32 @_ZN15onboardDetector6DBSCAN13expandClusterENS_6Point_Ei(ptr noundef nonnull align 8 dereferenceable(36) %0, <2 x float> %1, i64 %2, i32 noundef %3) local_unnamed_addr #1 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca %"class.std::vector.0", align 8
  %6 = alloca %"class.__gnu_cxx::__normal_iterator.5", align 8
  %7 = alloca %"class.__gnu_cxx::__normal_iterator.5", align 8
  %8 = alloca %"class.__gnu_cxx::__normal_iterator.6", align 8
  %9 = alloca %"class.__gnu_cxx::__normal_iterator.5", align 8
  %10 = alloca %"class.__gnu_cxx::__normal_iterator.5", align 8
  %11 = alloca %"class.std::vector.0", align 8
  %12 = alloca %"class.__gnu_cxx::__normal_iterator.5", align 8
  %13 = alloca %"class.__gnu_cxx::__normal_iterator.5", align 8
  %.sroa.4.8.extract.trunc = trunc i64 %2 to i32
  %14 = bitcast i32 %.sroa.4.8.extract.trunc to float
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %5) #5
  call void @_ZN15onboardDetector6DBSCAN16calculateClusterENS_6Point_E(ptr dead_on_unwind nonnull writable sret(%"class.std::vector.0") align 8 %5, ptr noundef nonnull align 8 dereferenceable(36) %0, <2 x float> %1, i64 %2)
  %15 = call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %5) #5
  %16 = getelementptr inbounds i8, ptr %0, i64 28
  %17 = load i32, ptr %16, align 4, !tbaa !5
  %18 = zext i32 %17 to i64
  %19 = icmp ult i64 %15, %18
  br i1 %19, label %136, label %20

20:                                               ; preds = %4
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #5
  call void @_ZN9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(8) %6) #5
  %21 = call ptr @_ZNSt6vectorIiSaIiEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %5) #5
  store ptr %21, ptr %6, align 8, !tbaa !16
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #5
  %22 = call ptr @_ZNSt6vectorIiSaIiEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %5) #5
  store ptr %22, ptr %7, align 8
  %23 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPiSt6vectorIiSaIiEEEEbRKNS_17__normal_iteratorIT_T0_EESA_(ptr noundef nonnull align 8 dereferenceable(8) %6, ptr noundef nonnull align 8 dereferenceable(8) %7) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #5
  br i1 %23, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %20
  %.sroa.018.0.vec.extract = extractelement <2 x float> %1, i64 0
  %.sroa.018.4.vec.extract = extractelement <2 x float> %1, i64 1
  br label %24

24:                                               ; preds = %.lr.ph, %59
  %.02336 = phi i32 [ 0, %.lr.ph ], [ %60, %59 ]
  %.02835 = phi i32 [ 0, %.lr.ph ], [ %.129, %59 ]
  %25 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %6) #5
  %26 = load i32, ptr %25, align 4, !tbaa !17
  %27 = sext i32 %26 to i64
  %28 = invoke noundef nonnull align 4 dereferenceable(16) ptr @_ZNSt6vectorIN15onboardDetector6Point_ESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %27)
          to label %29 unwind label %57

29:                                               ; preds = %24
  %30 = getelementptr inbounds i8, ptr %28, i64 12
  store i32 %3, ptr %30, align 4, !tbaa !18
  %31 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %6) #5
  %32 = load i32, ptr %31, align 4, !tbaa !17
  %33 = sext i32 %32 to i64
  %34 = invoke noundef nonnull align 4 dereferenceable(16) ptr @_ZNSt6vectorIN15onboardDetector6Point_ESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %33)
          to label %35 unwind label %57

35:                                               ; preds = %29
  %36 = load float, ptr %34, align 4, !tbaa !20
  %37 = fcmp oeq float %36, %.sroa.018.0.vec.extract
  br i1 %37, label %38, label %59

38:                                               ; preds = %35
  %39 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %6) #5
  %40 = load i32, ptr %39, align 4, !tbaa !17
  %41 = sext i32 %40 to i64
  %42 = invoke noundef nonnull align 4 dereferenceable(16) ptr @_ZNSt6vectorIN15onboardDetector6Point_ESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %41)
          to label %43 unwind label %57

43:                                               ; preds = %38
  %44 = getelementptr inbounds i8, ptr %42, i64 4
  %45 = load float, ptr %44, align 4, !tbaa !21
  %46 = fcmp oeq float %45, %.sroa.018.4.vec.extract
  br i1 %46, label %47, label %59

47:                                               ; preds = %43
  %48 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %6) #5
  %49 = load i32, ptr %48, align 4, !tbaa !17
  %50 = sext i32 %49 to i64
  %51 = invoke noundef nonnull align 4 dereferenceable(16) ptr @_ZNSt6vectorIN15onboardDetector6Point_ESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %50)
          to label %52 unwind label %57

52:                                               ; preds = %47
  %53 = getelementptr inbounds i8, ptr %51, i64 8
  %54 = load float, ptr %53, align 4, !tbaa !22
  %55 = fcmp oeq float %54, %14
  br i1 %55, label %56, label %59

56:                                               ; preds = %52
  br label %59

57:                                               ; preds = %47, %38, %29, %24
  %58 = landingpad { ptr, i32 }
          cleanup
  br label %135

59:                                               ; preds = %56, %52, %43, %35
  %.129 = phi i32 [ %.02336, %56 ], [ %.02835, %52 ], [ %.02835, %43 ], [ %.02835, %35 ]
  %60 = add nuw nsw i32 %.02336, 1
  %61 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %6) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #5
  %62 = call ptr @_ZNSt6vectorIiSaIiEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %5) #5
  store ptr %62, ptr %7, align 8
  %63 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPiSt6vectorIiSaIiEEEEbRKNS_17__normal_iteratorIT_T0_EESA_(ptr noundef nonnull align 8 dereferenceable(8) %6, ptr noundef nonnull align 8 dereferenceable(8) %7) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #5
  br i1 %63, label %24, label %._crit_edge.loopexit, !llvm.loop !23

._crit_edge.loopexit:                             ; preds = %59
  %64 = sext i32 %.129 to i64
  br label %._crit_edge

._crit_edge:                                      ; preds = %._crit_edge.loopexit, %20
  %.028.lcssa = phi i64 [ 0, %20 ], [ %64, %._crit_edge.loopexit ]
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #5
  %65 = call ptr @_ZNSt6vectorIiSaIiEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %5) #5
  store ptr %65, ptr %10, align 8
  %66 = call ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEplEl(ptr noundef nonnull align 8 dereferenceable(8) %10, i64 noundef %.028.lcssa) #5
  store ptr %66, ptr %9, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKiSt6vectorIiSaIiEEEC2IPivEERKNS0_IT_S5_EE(ptr noundef nonnull align 8 dereferenceable(8) %8, ptr noundef nonnull align 8 dereferenceable(8) %9) #5
  %67 = load ptr, ptr %8, align 8
  %68 = invoke ptr @_ZNSt6vectorIiSaIiEE5eraseEN9__gnu_cxx17__normal_iteratorIPKiS1_EE(ptr noundef nonnull align 8 dereferenceable(24) %5, ptr %67)
          to label %69 unwind label %71

69:                                               ; preds = %._crit_edge
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #5
  %70 = call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %5) #5
  %.not47 = icmp eq i64 %70, 0
  br i1 %.not47, label %._crit_edge46, label %.lr.ph45

._crit_edge46:                                    ; preds = %131, %69
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #5
  br label %136

71:                                               ; preds = %._crit_edge
  %72 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #5
  br label %135

.lr.ph45:                                         ; preds = %69, %131
  %.02143 = phi i64 [ %.4, %131 ], [ %70, %69 ]
  %.02242 = phi i64 [ %132, %131 ], [ 0, %69 ]
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %11) #5
  %73 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %.02242) #5
  %74 = load i32, ptr %73, align 4, !tbaa !17
  %75 = sext i32 %74 to i64
  %76 = invoke noundef nonnull align 4 dereferenceable(16) ptr @_ZNSt6vectorIN15onboardDetector6Point_ESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %75)
          to label %77 unwind label %116

77:                                               ; preds = %.lr.ph45
  %.sroa.01.0.copyload = load <2 x float>, ptr %76, align 4
  %.sroa.2.0..sroa_idx = getelementptr inbounds i8, ptr %76, i64 8
  %.sroa.2.0.copyload = load i64, ptr %.sroa.2.0..sroa_idx, align 4
  invoke void @_ZN15onboardDetector6DBSCAN16calculateClusterENS_6Point_E(ptr dead_on_unwind nonnull writable sret(%"class.std::vector.0") align 8 %11, ptr noundef nonnull align 8 dereferenceable(36) %0, <2 x float> %.sroa.01.0.copyload, i64 %.sroa.2.0.copyload)
          to label %78 unwind label %116

78:                                               ; preds = %77
  %79 = call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #5
  %80 = load i32, ptr %16, align 4, !tbaa !5
  %81 = zext i32 %80 to i64
  %.not = icmp ult i64 %79, %81
  br i1 %.not, label %131, label %82

82:                                               ; preds = %78
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #5
  call void @_ZN9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(8) %12) #5
  %83 = call ptr @_ZNSt6vectorIiSaIiEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #5
  store ptr %83, ptr %12, align 8, !tbaa !16
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #5
  %84 = call ptr @_ZNSt6vectorIiSaIiEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #5
  store ptr %84, ptr %13, align 8
  %85 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPiSt6vectorIiSaIiEEEEbRKNS_17__normal_iteratorIT_T0_EESA_(ptr noundef nonnull align 8 dereferenceable(8) %12, ptr noundef nonnull align 8 dereferenceable(8) %13) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #5
  br i1 %85, label %.lr.ph39, label %._crit_edge40

.lr.ph39:                                         ; preds = %82, %127
  %.137 = phi i64 [ %.3, %127 ], [ %.02143, %82 ]
  %86 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %12) #5
  %87 = load i32, ptr %86, align 4, !tbaa !17
  %88 = sext i32 %87 to i64
  %89 = invoke noundef nonnull align 4 dereferenceable(16) ptr @_ZNSt6vectorIN15onboardDetector6Point_ESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %88)
          to label %90 unwind label %118

90:                                               ; preds = %.lr.ph39
  %91 = getelementptr inbounds i8, ptr %89, i64 12
  %92 = load i32, ptr %91, align 4, !tbaa !18
  %93 = icmp eq i32 %92, -1
  br i1 %93, label %103, label %94

94:                                               ; preds = %90
  %95 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %12) #5
  %96 = load i32, ptr %95, align 4, !tbaa !17
  %97 = sext i32 %96 to i64
  %98 = invoke noundef nonnull align 4 dereferenceable(16) ptr @_ZNSt6vectorIN15onboardDetector6Point_ESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %97)
          to label %99 unwind label %118

99:                                               ; preds = %94
  %100 = getelementptr inbounds i8, ptr %98, i64 12
  %101 = load i32, ptr %100, align 4, !tbaa !18
  %102 = icmp eq i32 %101, -2
  br i1 %102, label %103, label %127

103:                                              ; preds = %99, %90
  %104 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %12) #5
  %105 = load i32, ptr %104, align 4, !tbaa !17
  %106 = sext i32 %105 to i64
  %107 = invoke noundef nonnull align 4 dereferenceable(16) ptr @_ZNSt6vectorIN15onboardDetector6Point_ESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %106)
          to label %108 unwind label %118

108:                                              ; preds = %103
  %109 = getelementptr inbounds i8, ptr %107, i64 12
  %110 = load i32, ptr %109, align 4, !tbaa !18
  %111 = icmp eq i32 %110, -1
  br i1 %111, label %112, label %120

112:                                              ; preds = %108
  %113 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %12) #5
  invoke void @_ZNSt6vectorIiSaIiEE9push_backERKi(ptr noundef nonnull align 8 dereferenceable(24) %5, ptr noundef nonnull align 4 dereferenceable(4) %113)
          to label %114 unwind label %118

114:                                              ; preds = %112
  %115 = call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %5) #5
  br label %120

116:                                              ; preds = %77, %.lr.ph45
  %117 = landingpad { ptr, i32 }
          cleanup
  br label %134

118:                                              ; preds = %120, %112, %103, %94, %.lr.ph39
  %119 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #5
  call void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #5
  br label %134

120:                                              ; preds = %114, %108
  %.2 = phi i64 [ %115, %114 ], [ %.137, %108 ]
  %121 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %12) #5
  %122 = load i32, ptr %121, align 4, !tbaa !17
  %123 = sext i32 %122 to i64
  %124 = invoke noundef nonnull align 4 dereferenceable(16) ptr @_ZNSt6vectorIN15onboardDetector6Point_ESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %123)
          to label %125 unwind label %118

125:                                              ; preds = %120
  %126 = getelementptr inbounds i8, ptr %124, i64 12
  store i32 %3, ptr %126, align 4, !tbaa !18
  br label %127

127:                                              ; preds = %99, %125
  %.3 = phi i64 [ %.2, %125 ], [ %.137, %99 ]
  %128 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %12) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #5
  %129 = call ptr @_ZNSt6vectorIiSaIiEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %11) #5
  store ptr %129, ptr %13, align 8
  %130 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPiSt6vectorIiSaIiEEEEbRKNS_17__normal_iteratorIT_T0_EESA_(ptr noundef nonnull align 8 dereferenceable(8) %12, ptr noundef nonnull align 8 dereferenceable(8) %13) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #5
  br i1 %130, label %.lr.ph39, label %._crit_edge40, !llvm.loop !25

._crit_edge40:                                    ; preds = %127, %82
  %.1.lcssa = phi i64 [ %.02143, %82 ], [ %.3, %127 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #5
  br label %131

131:                                              ; preds = %._crit_edge40, %78
  %.4 = phi i64 [ %.1.lcssa, %._crit_edge40 ], [ %.02143, %78 ]
  call void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #5
  %132 = add nuw i64 %.02242, 1
  %133 = icmp ult i64 %132, %.4
  br i1 %133, label %.lr.ph45, label %._crit_edge46, !llvm.loop !26

134:                                              ; preds = %118, %116
  %.pn = phi { ptr, i32 } [ %119, %118 ], [ %117, %116 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #5
  br label %135

135:                                              ; preds = %134, %71, %57
  %.pn31 = phi { ptr, i32 } [ %58, %57 ], [ %.pn, %134 ], [ %72, %71 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #5
  call void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #5
  resume { ptr, i32 } %.pn31

136:                                              ; preds = %4, %._crit_edge46
  %.0 = phi i32 [ 0, %._crit_edge46 ], [ -3, %4 ]
  call void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #5
  ret i32 %.0
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN15onboardDetector6DBSCAN16calculateClusterENS_6Point_E(ptr dead_on_unwind noalias writable sret(%"class.std::vector.0") align 8, ptr noundef nonnull align 8 dereferenceable(36), <2 x float>, i64) local_unnamed_addr #1 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEC2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIiSaIiEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxneIPiSt6vectorIiSaIiEEEEbRKNS_17__normal_iteratorIT_T0_EESA_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIiSaIiEE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(16) ptr @_ZNSt6vectorIN15onboardDetector6Point_ESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZNSt6vectorIiSaIiEE5eraseEN9__gnu_cxx17__normal_iteratorIPKiS1_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNK9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEplEl(ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN9__gnu_cxx17__normal_iteratorIPKiSt6vectorIiSaIiEEEC2IPivEERKNS0_IT_S5_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #2 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIiSaIiEE9push_backERKi(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #4 align 2

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

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress uwtable "min-legal-vector-width"="64" "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 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { 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 #4 = { 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 #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, !14, i64 28}
!6 = !{!"_ZTSN15onboardDetector6DBSCANE", !7, i64 0, !14, i64 24, !14, i64 28, !15, i64 32}
!7 = !{!"_ZTSSt6vectorIN15onboardDetector6Point_ESaIS1_EE", !8, i64 0}
!8 = !{!"_ZTSSt12_Vector_baseIN15onboardDetector6Point_ESaIS1_EE", !9, i64 0}
!9 = !{!"_ZTSNSt12_Vector_baseIN15onboardDetector6Point_ESaIS1_EE12_Vector_implE", !10, i64 0}
!10 = !{!"_ZTSNSt12_Vector_baseIN15onboardDetector6Point_ESaIS1_EE17_Vector_impl_dataE", !11, i64 0, !11, i64 8, !11, i64 16}
!11 = !{!"any pointer", !12, i64 0}
!12 = !{!"omnipotent char", !13, i64 0}
!13 = !{!"Simple C++ TBAA"}
!14 = !{!"int", !12, i64 0}
!15 = !{!"float", !12, i64 0}
!16 = !{!11, !11, i64 0}
!17 = !{!14, !14, i64 0}
!18 = !{!19, !14, i64 12}
!19 = !{!"_ZTSN15onboardDetector6Point_E", !15, i64 0, !15, i64 4, !15, i64 8, !14, i64 12}
!20 = !{!19, !15, i64 0}
!21 = !{!19, !15, i64 4}
!22 = !{!19, !15, i64 8}
!23 = distinct !{!23, !24}
!24 = !{!"llvm.loop.mustprogress"}
!25 = distinct !{!25, !24}
!26 = distinct !{!26, !24}


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