; LLVM IR from unitreerobotics/kinect_teleoperate :: src/sample_helper_libs/window_controller_3d (WindowController3d)

; 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::lock_guard" = type { ptr }
%struct.Viewport = type { i32, i32, i32, i32 }
%"class.Visualization::WindowController3d" = type { i8, i32, i32, i8, %class.ViewControl, %class.ViewControl, %class.ViewControl, %class.ViewControl, %"struct.std::array", %"class.Visualization::PointCloudRenderer", %"class.Visualization::SkeletonRenderer", %"class.Visualization::FloorRenderer", double, float, i32, i32, i32, i32, float, float, ptr, i8, i8, i32, [2 x float], ptr, ptr, ptr, ptr, %"class.std::mutex" }
%class.ViewControl = type { %struct.ViewParameters, %struct.Viewport, i8, float, float, float }
%struct.ViewParameters = type { [3 x float], float, [3 x float], float, float, [3 x float], [3 x float], [3 x float] }
%"struct.std::array" = type { [4 x ptr] }
%"class.Visualization::PointCloudRenderer" = type { %"class.Visualization::RendererBase.base", float, %"class.std::optional", i8, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, %"class.std::mutex" }
%"class.Visualization::RendererBase.base" = type <{ ptr, i8, [3 x i8], [4 x [4 x float]], [4 x [4 x float]], [4 x i8], ptr, i32, i32, i32 }>
%"class.std::optional" = type { %"struct.std::_Optional_base" }
%"struct.std::_Optional_base" = type { %"struct.std::_Optional_payload" }
%"struct.std::_Optional_payload" = type { %"struct.std::_Optional_payload_base.base", [3 x i8] }
%"struct.std::_Optional_payload_base.base" = type <{ %"union.std::_Optional_payload_base<float>::_Storage", i8 }>
%"union.std::_Optional_payload_base<float>::_Storage" = type { float }
%"class.Visualization::SkeletonRenderer" = type { %"class.Visualization::RendererBase.base", i8, i8, float, float, float, float, %"class.Visualization::Sphere", %"class.Visualization::Cylinder", %"class.Visualization::CoordinateAxes", %"class.std::vector.10", %"class.std::vector.15" }
%"class.Visualization::Sphere" = type <{ %"class.Visualization::RendererBase.base", float, i32, i32, %"class.std::vector", %"class.std::vector.0", i32, i32, i32, i32, i32, i32, i32, [4 x i8] }>
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<Visualization::MonoVertex, std::allocator<Visualization::MonoVertex>>::_Vector_impl" }
%"struct.std::_Vector_base<Visualization::MonoVertex, std::allocator<Visualization::MonoVertex>>::_Vector_impl" = type { %"struct.std::_Vector_base<Visualization::MonoVertex, std::allocator<Visualization::MonoVertex>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Visualization::MonoVertex, std::allocator<Visualization::MonoVertex>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.0" = type { %"struct.std::_Vector_base.1" }
%"struct.std::_Vector_base.1" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Visualization::Cylinder" = type <{ %"class.Visualization::RendererBase.base", float, float, i32, %"class.std::vector", %"class.std::vector.0", i32, i32, i32, i32, i32, i32, i32, [4 x i8] }>
%"class.Visualization::CoordinateAxes" = type { %"class.Visualization::RendererBase.base", float, float, %"class.std::vector.5", %"class.std::vector.0", i32, i32, i32, i32, i32, i32 }
%"class.std::vector.5" = type { %"struct.std::_Vector_base.6" }
%"struct.std::_Vector_base.6" = type { %"struct.std::_Vector_base<Visualization::ColorVertex, std::allocator<Visualization::ColorVertex>>::_Vector_impl" }
%"struct.std::_Vector_base<Visualization::ColorVertex, std::allocator<Visualization::ColorVertex>>::_Vector_impl" = type { %"struct.std::_Vector_base<Visualization::ColorVertex, std::allocator<Visualization::ColorVertex>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Visualization::ColorVertex, std::allocator<Visualization::ColorVertex>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.10" = type { %"struct.std::_Vector_base.11" }
%"struct.std::_Vector_base.11" = type { %"struct.std::_Vector_base<Visualization::Joint, std::allocator<Visualization::Joint>>::_Vector_impl" }
%"struct.std::_Vector_base<Visualization::Joint, std::allocator<Visualization::Joint>>::_Vector_impl" = type { %"struct.std::_Vector_base<Visualization::Joint, std::allocator<Visualization::Joint>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Visualization::Joint, std::allocator<Visualization::Joint>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.15" = type { %"struct.std::_Vector_base.16" }
%"struct.std::_Vector_base.16" = type { %"struct.std::_Vector_base<Visualization::Bone, std::allocator<Visualization::Bone>>::_Vector_impl" }
%"struct.std::_Vector_base<Visualization::Bone, std::allocator<Visualization::Bone>>::_Vector_impl" = type { %"struct.std::_Vector_base<Visualization::Bone, std::allocator<Visualization::Bone>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Visualization::Bone, std::allocator<Visualization::Bone>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Visualization::FloorRenderer" = type <{ %"class.Visualization::RendererBase.base", [4 x [4 x float]], float, float, [4 x i8], %"class.std::vector", %"class.std::vector.0", i32, i32, i32, i32, i32, i32, i32, [4 x i8] }>
%"class.std::mutex" = type { %"class.std::__mutex_base" }
%"class.std::__mutex_base" = type { %union.pthread_mutex_t }
%union.pthread_mutex_t = type { %struct.__pthread_mutex_s }
%struct.__pthread_mutex_s = type { i32, i32, i32, i32, i32, i16, i16, %struct.__pthread_internal_list }
%struct.__pthread_internal_list = type { ptr, ptr }

@glad_glClear = external global ptr, align 8
@glad_glReadPixels = external global ptr, align 8

declare i32 @__gxx_personality_v0(...)

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

declare void @glfwMakeContextCurrent(ptr noundef) #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN13Visualization18WindowController3d11RenderSceneER11ViewControl8Viewport(ptr noundef nonnull align 8 dereferenceable(2184), ptr noundef nonnull align 4 dereferenceable(104), i64, i64) #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN13Visualization18WindowController3d6RenderEPSt6vectorIhSaIhEEPiS5_(ptr noundef nonnull align 8 dereferenceable(2184) %0, ptr noundef %1, ptr noundef %2, ptr noundef %3) #2 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca %"class.std::lock_guard", align 8
  %10 = alloca ptr, align 8
  %11 = alloca i32, align 4
  %12 = alloca double, align 8
  %13 = alloca i32, align 4
  %14 = alloca i32, align 4
  %15 = alloca %struct.Viewport, align 4
  %16 = alloca %struct.Viewport, align 4
  %17 = alloca %struct.Viewport, align 4
  %18 = alloca %struct.Viewport, align 4
  %19 = alloca %struct.Viewport, align 4
  store ptr %0, ptr %5, align 8, !tbaa !5
  store ptr %1, ptr %6, align 8, !tbaa !5
  store ptr %2, ptr %7, align 8, !tbaa !5
  store ptr %3, ptr %8, align 8, !tbaa !5
  %20 = load ptr, ptr %5, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #4
  %21 = getelementptr inbounds %"class.Visualization::WindowController3d", ptr %20, i32 0, i32 29
  call void @_ZNSt10lock_guardISt5mutexEC2ERS0_(ptr noundef nonnull align 8 dereferenceable(8) %9, ptr noundef nonnull align 8 dereferenceable(40) %21)
  %22 = getelementptr inbounds %"class.Visualization::WindowController3d", ptr %20, i32 0, i32 20
  %23 = load ptr, ptr %22, align 8, !tbaa !9
  invoke void @glfwMakeContextCurrent(ptr noundef %23)
          to label %24 unwind label %43

24:                                               ; preds = %4
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #4
  %25 = invoke double @glfwGetTime()
          to label %26 unwind label %47

26:                                               ; preds = %24
  store double %25, ptr %12, align 8, !tbaa !54
  %27 = load double, ptr %12, align 8, !tbaa !54
  %28 = getelementptr inbounds %"class.Visualization::WindowController3d", ptr %20, i32 0, i32 12
  %29 = load double, ptr %28, align 8, !tbaa !55
  %30 = fsub double %27, %29
  %31 = fptrunc double %30 to float
  %32 = getelementptr inbounds %"class.Visualization::WindowController3d", ptr %20, i32 0, i32 13
  store float %31, ptr %32, align 8, !tbaa !56
  %33 = load double, ptr %12, align 8, !tbaa !54
  %34 = getelementptr inbounds %"class.Visualization::WindowController3d", ptr %20, i32 0, i32 12
  store double %33, ptr %34, align 8, !tbaa !55
  %35 = load ptr, ptr @glad_glClear, align 8, !tbaa !5
  invoke void %35(i32 noundef 16640)
          to label %36 unwind label %47

36:                                               ; preds = %26
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #4
  %37 = getelementptr inbounds %"class.Visualization::WindowController3d", ptr %20, i32 0, i32 14
  %38 = load i32, ptr %37, align 4, !tbaa !57
  store i32 %38, ptr %13, align 4, !tbaa !58
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #4
  %39 = getelementptr inbounds %"class.Visualization::WindowController3d", ptr %20, i32 0, i32 15
  %40 = load i32, ptr %39, align 8, !tbaa !59
  store i32 %40, ptr %14, align 4, !tbaa !58
  %41 = getelementptr inbounds %"class.Visualization::WindowController3d", ptr %20, i32 0, i32 1
  %42 = load i32, ptr %41, align 4, !tbaa !60
  switch i32 %42, label %51 [
    i32 0, label %52
    i32 1, label %69
  ]

43:                                               ; preds = %4
  %44 = landingpad { ptr, i32 }
          cleanup
  %45 = extractvalue { ptr, i32 } %44, 0
  store ptr %45, ptr %10, align 8
  %46 = extractvalue { ptr, i32 } %44, 1
  store i32 %46, ptr %11, align 4
  br label %170

47:                                               ; preds = %26, %24
  %48 = landingpad { ptr, i32 }
          cleanup
  %49 = extractvalue { ptr, i32 } %48, 0
  store ptr %49, ptr %10, align 8
  %50 = extractvalue { ptr, i32 } %48, 1
  store i32 %50, ptr %11, align 4
  br label %169

51:                                               ; preds = %36
  br label %52

52:                                               ; preds = %51, %36
  %53 = getelementptr inbounds %"class.Visualization::WindowController3d", ptr %20, i32 0, i32 4
  %54 = getelementptr inbounds %struct.Viewport, ptr %15, i32 0, i32 0
  store i32 0, ptr %54, align 4, !tbaa !61
  %55 = getelementptr inbounds %struct.Viewport, ptr %15, i32 0, i32 1
  store i32 0, ptr %55, align 4, !tbaa !62
  %56 = getelementptr inbounds %struct.Viewport, ptr %15, i32 0, i32 2
  %57 = load i32, ptr %13, align 4, !tbaa !58
  store i32 %57, ptr %56, align 4, !tbaa !63
  %58 = getelementptr inbounds %struct.Viewport, ptr %15, i32 0, i32 3
  %59 = load i32, ptr %14, align 4, !tbaa !58
  store i32 %59, ptr %58, align 4, !tbaa !64
  %60 = getelementptr inbounds { i64, i64 }, ptr %15, i32 0, i32 0
  %61 = load i64, ptr %60, align 4
  %62 = getelementptr inbounds { i64, i64 }, ptr %15, i32 0, i32 1
  %63 = load i64, ptr %62, align 4
  invoke void @_ZN13Visualization18WindowController3d11RenderSceneER11ViewControl8Viewport(ptr noundef nonnull align 8 dereferenceable(2184) %20, ptr noundef nonnull align 4 dereferenceable(104) %53, i64 %61, i64 %63)
          to label %64 unwind label %65

64:                                               ; preds = %52
  br label %135

65:                                               ; preds = %167, %164, %145, %138, %116, %99, %83, %69, %52
  %66 = landingpad { ptr, i32 }
          cleanup
  %67 = extractvalue { ptr, i32 } %66, 0
  store ptr %67, ptr %10, align 8
  %68 = extractvalue { ptr, i32 } %66, 1
  store i32 %68, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #4
  br label %169

69:                                               ; preds = %36
  %70 = getelementptr inbounds %"class.Visualization::WindowController3d", ptr %20, i32 0, i32 5
  %71 = getelementptr inbounds %struct.Viewport, ptr %16, i32 0, i32 0
  store i32 0, ptr %71, align 4, !tbaa !61
  %72 = getelementptr inbounds %struct.Viewport, ptr %16, i32 0, i32 1
  store i32 0, ptr %72, align 4, !tbaa !62
  %73 = getelementptr inbounds %struct.Viewport, ptr %16, i32 0, i32 2
  %74 = load i32, ptr %13, align 4, !tbaa !58
  %75 = sdiv i32 %74, 2
  store i32 %75, ptr %73, align 4, !tbaa !63
  %76 = getelementptr inbounds %struct.Viewport, ptr %16, i32 0, i32 3
  %77 = load i32, ptr %14, align 4, !tbaa !58
  %78 = sdiv i32 %77, 2
  store i32 %78, ptr %76, align 4, !tbaa !64
  %79 = getelementptr inbounds { i64, i64 }, ptr %16, i32 0, i32 0
  %80 = load i64, ptr %79, align 4
  %81 = getelementptr inbounds { i64, i64 }, ptr %16, i32 0, i32 1
  %82 = load i64, ptr %81, align 4
  invoke void @_ZN13Visualization18WindowController3d11RenderSceneER11ViewControl8Viewport(ptr noundef nonnull align 8 dereferenceable(2184) %20, ptr noundef nonnull align 4 dereferenceable(104) %70, i64 %80, i64 %82)
          to label %83 unwind label %65

83:                                               ; preds = %69
  %84 = getelementptr inbounds %"class.Visualization::WindowController3d", ptr %20, i32 0, i32 6
  %85 = getelementptr inbounds %struct.Viewport, ptr %17, i32 0, i32 0
  %86 = load i32, ptr %13, align 4, !tbaa !58
  %87 = sdiv i32 %86, 2
  store i32 %87, ptr %85, align 4, !tbaa !61
  %88 = getelementptr inbounds %struct.Viewport, ptr %17, i32 0, i32 1
  store i32 0, ptr %88, align 4, !tbaa !62
  %89 = getelementptr inbounds %struct.Viewport, ptr %17, i32 0, i32 2
  %90 = load i32, ptr %13, align 4, !tbaa !58
  %91 = sdiv i32 %90, 2
  store i32 %91, ptr %89, align 4, !tbaa !63
  %92 = getelementptr inbounds %struct.Viewport, ptr %17, i32 0, i32 3
  %93 = load i32, ptr %14, align 4, !tbaa !58
  %94 = sdiv i32 %93, 2
  store i32 %94, ptr %92, align 4, !tbaa !64
  %95 = getelementptr inbounds { i64, i64 }, ptr %17, i32 0, i32 0
  %96 = load i64, ptr %95, align 4
  %97 = getelementptr inbounds { i64, i64 }, ptr %17, i32 0, i32 1
  %98 = load i64, ptr %97, align 4
  invoke void @_ZN13Visualization18WindowController3d11RenderSceneER11ViewControl8Viewport(ptr noundef nonnull align 8 dereferenceable(2184) %20, ptr noundef nonnull align 4 dereferenceable(104) %84, i64 %96, i64 %98)
          to label %99 unwind label %65

99:                                               ; preds = %83
  %100 = getelementptr inbounds %"class.Visualization::WindowController3d", ptr %20, i32 0, i32 4
  %101 = getelementptr inbounds %struct.Viewport, ptr %18, i32 0, i32 0
  store i32 0, ptr %101, align 4, !tbaa !61
  %102 = getelementptr inbounds %struct.Viewport, ptr %18, i32 0, i32 1
  %103 = getelementptr inbounds %"class.Visualization::WindowController3d", ptr %20, i32 0, i32 15
  %104 = load i32, ptr %103, align 8, !tbaa !59
  %105 = sdiv i32 %104, 2
  store i32 %105, ptr %102, align 4, !tbaa !62
  %106 = getelementptr inbounds %struct.Viewport, ptr %18, i32 0, i32 2
  %107 = load i32, ptr %13, align 4, !tbaa !58
  %108 = sdiv i32 %107, 2
  store i32 %108, ptr %106, align 4, !tbaa !63
  %109 = getelementptr inbounds %struct.Viewport, ptr %18, i32 0, i32 3
  %110 = load i32, ptr %14, align 4, !tbaa !58
  %111 = sdiv i32 %110, 2
  store i32 %111, ptr %109, align 4, !tbaa !64
  %112 = getelementptr inbounds { i64, i64 }, ptr %18, i32 0, i32 0
  %113 = load i64, ptr %112, align 4
  %114 = getelementptr inbounds { i64, i64 }, ptr %18, i32 0, i32 1
  %115 = load i64, ptr %114, align 4
  invoke void @_ZN13Visualization18WindowController3d11RenderSceneER11ViewControl8Viewport(ptr noundef nonnull align 8 dereferenceable(2184) %20, ptr noundef nonnull align 4 dereferenceable(104) %100, i64 %113, i64 %115)
          to label %116 unwind label %65

116:                                              ; preds = %99
  %117 = getelementptr inbounds %"class.Visualization::WindowController3d", ptr %20, i32 0, i32 7
  %118 = getelementptr inbounds %struct.Viewport, ptr %19, i32 0, i32 0
  %119 = load i32, ptr %13, align 4, !tbaa !58
  %120 = sdiv i32 %119, 2
  store i32 %120, ptr %118, align 4, !tbaa !61
  %121 = getelementptr inbounds %struct.Viewport, ptr %19, i32 0, i32 1
  %122 = load i32, ptr %14, align 4, !tbaa !58
  %123 = sdiv i32 %122, 2
  store i32 %123, ptr %121, align 4, !tbaa !62
  %124 = getelementptr inbounds %struct.Viewport, ptr %19, i32 0, i32 2
  %125 = load i32, ptr %13, align 4, !tbaa !58
  %126 = sdiv i32 %125, 2
  store i32 %126, ptr %124, align 4, !tbaa !63
  %127 = getelementptr inbounds %struct.Viewport, ptr %19, i32 0, i32 3
  %128 = load i32, ptr %14, align 4, !tbaa !58
  %129 = sdiv i32 %128, 2
  store i32 %129, ptr %127, align 4, !tbaa !64
  %130 = getelementptr inbounds { i64, i64 }, ptr %19, i32 0, i32 0
  %131 = load i64, ptr %130, align 4
  %132 = getelementptr inbounds { i64, i64 }, ptr %19, i32 0, i32 1
  %133 = load i64, ptr %132, align 4
  invoke void @_ZN13Visualization18WindowController3d11RenderSceneER11ViewControl8Viewport(ptr noundef nonnull align 8 dereferenceable(2184) %20, ptr noundef nonnull align 4 dereferenceable(104) %117, i64 %131, i64 %133)
          to label %134 unwind label %65

134:                                              ; preds = %116
  br label %135

135:                                              ; preds = %134, %64
  %136 = load ptr, ptr %6, align 8, !tbaa !5
  %137 = icmp ne ptr %136, null
  br i1 %137, label %138, label %152

138:                                              ; preds = %135
  %139 = load ptr, ptr %6, align 8, !tbaa !5
  %140 = load i32, ptr %13, align 4, !tbaa !58
  %141 = load i32, ptr %14, align 4, !tbaa !58
  %142 = mul nsw i32 %140, %141
  %143 = mul nsw i32 %142, 3
  %144 = sext i32 %143 to i64
  invoke void @_ZNSt6vectorIhSaIhEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %139, i64 noundef %144)
          to label %145 unwind label %65

145:                                              ; preds = %138
  %146 = load ptr, ptr @glad_glReadPixels, align 8, !tbaa !5
  %147 = load i32, ptr %13, align 4, !tbaa !58
  %148 = load i32, ptr %14, align 4, !tbaa !58
  %149 = load ptr, ptr %6, align 8, !tbaa !5
  %150 = call noundef ptr @_ZNSt6vectorIhSaIhEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %149) #4
  invoke void %146(i32 noundef 0, i32 noundef 0, i32 noundef %147, i32 noundef %148, i32 noundef 32992, i32 noundef 5121, ptr noundef %150)
          to label %151 unwind label %65

151:                                              ; preds = %145
  br label %152

152:                                              ; preds = %151, %135
  %153 = load ptr, ptr %7, align 8, !tbaa !5
  %154 = icmp ne ptr %153, null
  br i1 %154, label %155, label %158

155:                                              ; preds = %152
  %156 = load i32, ptr %13, align 4, !tbaa !58
  %157 = load ptr, ptr %7, align 8, !tbaa !5
  store i32 %156, ptr %157, align 4, !tbaa !58
  br label %158

158:                                              ; preds = %155, %152
  %159 = load ptr, ptr %8, align 8, !tbaa !5
  %160 = icmp ne ptr %159, null
  br i1 %160, label %161, label %164

161:                                              ; preds = %158
  %162 = load i32, ptr %14, align 4, !tbaa !58
  %163 = load ptr, ptr %8, align 8, !tbaa !5
  store i32 %162, ptr %163, align 4, !tbaa !58
  br label %164

164:                                              ; preds = %161, %158
  %165 = getelementptr inbounds %"class.Visualization::WindowController3d", ptr %20, i32 0, i32 20
  %166 = load ptr, ptr %165, align 8, !tbaa !9
  invoke void @glfwSwapBuffers(ptr noundef %166)
          to label %167 unwind label %65

167:                                              ; preds = %164
  invoke void @glfwPollEvents()
          to label %168 unwind label %65

168:                                              ; preds = %167
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #4
  call void @_ZNSt10lock_guardISt5mutexED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %9) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #4
  ret void

169:                                              ; preds = %65, %47
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #4
  br label %170

170:                                              ; preds = %169, %43
  call void @_ZNSt10lock_guardISt5mutexED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %9) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #4
  br label %171

171:                                              ; preds = %170
  %172 = load ptr, ptr %10, align 8
  %173 = load i32, ptr %11, align 4
  %174 = insertvalue { ptr, i32 } poison, ptr %172, 0
  %175 = insertvalue { ptr, i32 } %174, i32 %173, 1
  resume { ptr, i32 } %175
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt10lock_guardISt5mutexEC2ERS0_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #2 align 2

declare double @glfwGetTime() #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIhSaIhEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNSt6vectorIhSaIhEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24)) #3 align 2

declare void @glfwSwapBuffers(ptr noundef) #1

declare void @glfwPollEvents() #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10lock_guardISt5mutexED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #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 = { 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 #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 = { 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, !6, i64 2088}
!10 = !{!"_ZTSN13Visualization18WindowController3dE", !11, i64 0, !12, i64 4, !13, i64 8, !11, i64 12, !14, i64 16, !14, i64 120, !14, i64 224, !14, i64 328, !19, i64 432, !20, i64 464, !28, i64 736, !52, i64 1728, !53, i64 2048, !16, i64 2056, !18, i64 2060, !18, i64 2064, !18, i64 2068, !18, i64 2072, !16, i64 2076, !16, i64 2080, !6, i64 2088, !11, i64 2096, !11, i64 2097, !18, i64 2100, !7, i64 2104, !6, i64 2112, !6, i64 2120, !6, i64 2128, !6, i64 2136, !26, i64 2144}
!11 = !{!"bool", !7, i64 0}
!12 = !{!"_ZTSN13Visualization8Layout3dE", !7, i64 0}
!13 = !{!"_ZTSN13Visualization18SkeletonRenderModeE", !7, i64 0}
!14 = !{!"_ZTS11ViewControl", !15, i64 0, !17, i64 72, !11, i64 88, !16, i64 92, !16, i64 96, !16, i64 100}
!15 = !{!"_ZTS14ViewParameters", !7, i64 0, !16, i64 12, !7, i64 16, !16, i64 28, !16, i64 32, !7, i64 36, !7, i64 48, !7, i64 60}
!16 = !{!"float", !7, i64 0}
!17 = !{!"_ZTS8Viewport", !18, i64 0, !18, i64 4, !18, i64 8, !18, i64 12}
!18 = !{!"int", !7, i64 0}
!19 = !{!"_ZTSSt5arrayIP11ViewControlLm4EE", !7, i64 0}
!20 = !{!"_ZTSN13Visualization18PointCloudRendererE", !21, i64 0, !16, i64 164, !22, i64 168, !11, i64 176, !18, i64 180, !18, i64 184, !18, i64 188, !18, i64 192, !18, i64 196, !18, i64 200, !18, i64 204, !18, i64 208, !18, i64 212, !18, i64 216, !18, i64 220, !18, i64 224, !26, i64 232}
!21 = !{!"_ZTSN13Visualization12RendererBaseE", !11, i64 8, !7, i64 12, !7, i64 76, !6, i64 144, !18, i64 152, !18, i64 156, !18, i64 160}
!22 = !{!"_ZTSSt8optionalIfE", !23, i64 0}
!23 = !{!"_ZTSSt14_Optional_baseIfLb1ELb1EE", !24, i64 0}
!24 = !{!"_ZTSSt17_Optional_payloadIfLb1ELb1ELb1EE", !25, i64 0}
!25 = !{!"_ZTSSt22_Optional_payload_baseIfE", !7, i64 0, !11, i64 4}
!26 = !{!"_ZTSSt5mutex", !27, i64 0}
!27 = !{!"_ZTSSt12__mutex_base", !7, i64 0}
!28 = !{!"_ZTSN13Visualization16SkeletonRendererE", !21, i64 0, !11, i64 164, !11, i64 165, !16, i64 168, !16, i64 172, !16, i64 176, !16, i64 180, !29, i64 184, !38, i64 440, !39, i64 696, !44, i64 944, !48, i64 968}
!29 = !{!"_ZTSN13Visualization6SphereE", !21, i64 0, !16, i64 164, !18, i64 168, !18, i64 172, !30, i64 176, !34, i64 200, !18, i64 224, !18, i64 228, !18, i64 232, !18, i64 236, !18, i64 240, !18, i64 244, !18, i64 248}
!30 = !{!"_ZTSSt6vectorIN13Visualization10MonoVertexESaIS1_EE", !31, i64 0}
!31 = !{!"_ZTSSt12_Vector_baseIN13Visualization10MonoVertexESaIS1_EE", !32, i64 0}
!32 = !{!"_ZTSNSt12_Vector_baseIN13Visualization10MonoVertexESaIS1_EE12_Vector_implE", !33, i64 0}
!33 = !{!"_ZTSNSt12_Vector_baseIN13Visualization10MonoVertexESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!34 = !{!"_ZTSSt6vectorIjSaIjEE", !35, i64 0}
!35 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !36, i64 0}
!36 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !37, i64 0}
!37 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!38 = !{!"_ZTSN13Visualization8CylinderE", !21, i64 0, !16, i64 164, !16, i64 168, !18, i64 172, !30, i64 176, !34, i64 200, !18, i64 224, !18, i64 228, !18, i64 232, !18, i64 236, !18, i64 240, !18, i64 244, !18, i64 248}
!39 = !{!"_ZTSN13Visualization14CoordinateAxesE", !21, i64 0, !16, i64 164, !16, i64 168, !40, i64 176, !34, i64 200, !18, i64 224, !18, i64 228, !18, i64 232, !18, i64 236, !18, i64 240, !18, i64 244}
!40 = !{!"_ZTSSt6vectorIN13Visualization11ColorVertexESaIS1_EE", !41, i64 0}
!41 = !{!"_ZTSSt12_Vector_baseIN13Visualization11ColorVertexESaIS1_EE", !42, i64 0}
!42 = !{!"_ZTSNSt12_Vector_baseIN13Visualization11ColorVertexESaIS1_EE12_Vector_implE", !43, i64 0}
!43 = !{!"_ZTSNSt12_Vector_baseIN13Visualization11ColorVertexESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!44 = !{!"_ZTSSt6vectorIN13Visualization5JointESaIS1_EE", !45, i64 0}
!45 = !{!"_ZTSSt12_Vector_baseIN13Visualization5JointESaIS1_EE", !46, i64 0}
!46 = !{!"_ZTSNSt12_Vector_baseIN13Visualization5JointESaIS1_EE12_Vector_implE", !47, i64 0}
!47 = !{!"_ZTSNSt12_Vector_baseIN13Visualization5JointESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!48 = !{!"_ZTSSt6vectorIN13Visualization4BoneESaIS1_EE", !49, i64 0}
!49 = !{!"_ZTSSt12_Vector_baseIN13Visualization4BoneESaIS1_EE", !50, i64 0}
!50 = !{!"_ZTSNSt12_Vector_baseIN13Visualization4BoneESaIS1_EE12_Vector_implE", !51, i64 0}
!51 = !{!"_ZTSNSt12_Vector_baseIN13Visualization4BoneESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!52 = !{!"_ZTSN13Visualization13FloorRendererE", !21, i64 0, !7, i64 164, !16, i64 228, !16, i64 232, !30, i64 240, !34, i64 264, !18, i64 288, !18, i64 292, !18, i64 296, !18, i64 300, !18, i64 304, !18, i64 308, !18, i64 312}
!53 = !{!"double", !7, i64 0}
!54 = !{!53, !53, i64 0}
!55 = !{!10, !53, i64 2048}
!56 = !{!10, !16, i64 2056}
!57 = !{!10, !18, i64 2060}
!58 = !{!18, !18, i64 0}
!59 = !{!10, !18, i64 2064}
!60 = !{!10, !12, i64 4}
!61 = !{!17, !18, i64 0}
!62 = !{!17, !18, i64 4}
!63 = !{!17, !18, i64 8}
!64 = !{!17, !18, i64 12}


; 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::lock_guard" = type { ptr }

@glad_glClear = external local_unnamed_addr global ptr, align 8
@glad_glReadPixels = external local_unnamed_addr global ptr, align 8

declare i32 @__gxx_personality_v0(...)

; 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

declare void @glfwMakeContextCurrent(ptr noundef) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN13Visualization18WindowController3d11RenderSceneER11ViewControl8Viewport(ptr noundef nonnull align 8 dereferenceable(2184), ptr noundef nonnull align 4 dereferenceable(104), i64, i64) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN13Visualization18WindowController3d6RenderEPSt6vectorIhSaIhEEPiS5_(ptr noundef nonnull align 8 dereferenceable(2184) %0, ptr noundef %1, ptr noundef writeonly %2, ptr noundef writeonly %3) local_unnamed_addr #2 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca %"class.std::lock_guard", align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #4
  %6 = getelementptr inbounds i8, ptr %0, i64 2144
  call void @_ZNSt10lock_guardISt5mutexEC2ERS0_(ptr noundef nonnull align 8 dereferenceable(8) %5, ptr noundef nonnull align 8 dereferenceable(40) %6)
  %7 = getelementptr inbounds i8, ptr %0, i64 2088
  %8 = load ptr, ptr %7, align 8, !tbaa !5
  invoke void @glfwMakeContextCurrent(ptr noundef %8)
          to label %9 unwind label %25

9:                                                ; preds = %4
  %10 = invoke double @glfwGetTime()
          to label %11 unwind label %27

11:                                               ; preds = %9
  %12 = getelementptr inbounds i8, ptr %0, i64 2048
  %13 = load double, ptr %12, align 8, !tbaa !53
  %14 = fsub double %10, %13
  %15 = fptrunc double %14 to float
  %16 = getelementptr inbounds i8, ptr %0, i64 2056
  store float %15, ptr %16, align 8, !tbaa !54
  store double %10, ptr %12, align 8, !tbaa !53
  %17 = load ptr, ptr @glad_glClear, align 8, !tbaa !55
  invoke void %17(i32 noundef 16640)
          to label %18 unwind label %27

18:                                               ; preds = %11
  %19 = getelementptr inbounds i8, ptr %0, i64 2060
  %20 = load i32, ptr %19, align 4, !tbaa !56
  %21 = getelementptr inbounds i8, ptr %0, i64 2064
  %22 = load i32, ptr %21, align 8, !tbaa !57
  %23 = getelementptr inbounds i8, ptr %0, i64 4
  %24 = load i32, ptr %23, align 4, !tbaa !58
  %cond = icmp eq i32 %24, 1
  br i1 %cond, label %33, label %29

25:                                               ; preds = %4
  %26 = landingpad { ptr, i32 }
          cleanup
  br label %64

27:                                               ; preds = %11, %9
  %28 = landingpad { ptr, i32 }
          cleanup
  br label %64

29:                                               ; preds = %18
  %30 = getelementptr inbounds i8, ptr %0, i64 16
  %.sroa.516.8.insert.ext = zext i32 %22 to i64
  %.sroa.516.8.insert.shift = shl nuw i64 %.sroa.516.8.insert.ext, 32
  %.sroa.315.8.insert.ext = zext i32 %20 to i64
  %.sroa.315.8.insert.insert = or disjoint i64 %.sroa.516.8.insert.shift, %.sroa.315.8.insert.ext
  br label %.invoke

31:                                               ; preds = %.invoke, %62, %60, %53, %49, %39, %37, %33
  %32 = landingpad { ptr, i32 }
          cleanup
  br label %64

33:                                               ; preds = %18
  %34 = getelementptr inbounds i8, ptr %0, i64 120
  %35 = sdiv i32 %20, 2
  %36 = sdiv i32 %22, 2
  %.sroa.512.8.insert.ext = zext i32 %36 to i64
  %.sroa.512.8.insert.shift = shl nuw i64 %.sroa.512.8.insert.ext, 32
  %.sroa.311.8.insert.ext = zext i32 %35 to i64
  %.sroa.311.8.insert.insert = or disjoint i64 %.sroa.512.8.insert.shift, %.sroa.311.8.insert.ext
  invoke void @_ZN13Visualization18WindowController3d11RenderSceneER11ViewControl8Viewport(ptr noundef nonnull align 8 dereferenceable(2184) %0, ptr noundef nonnull align 4 dereferenceable(104) %34, i64 0, i64 %.sroa.311.8.insert.insert)
          to label %37 unwind label %31

37:                                               ; preds = %33
  %38 = getelementptr inbounds i8, ptr %0, i64 224
  invoke void @_ZN13Visualization18WindowController3d11RenderSceneER11ViewControl8Viewport(ptr noundef nonnull align 8 dereferenceable(2184) %0, ptr noundef nonnull align 4 dereferenceable(104) %38, i64 %.sroa.311.8.insert.ext, i64 %.sroa.311.8.insert.insert)
          to label %39 unwind label %31

39:                                               ; preds = %37
  %40 = getelementptr inbounds i8, ptr %0, i64 16
  %41 = load i32, ptr %21, align 8, !tbaa !57
  %42 = sdiv i32 %41, 2
  %.sroa.22.0.insert.ext = zext i32 %42 to i64
  %.sroa.22.0.insert.shift = shl nuw i64 %.sroa.22.0.insert.ext, 32
  invoke void @_ZN13Visualization18WindowController3d11RenderSceneER11ViewControl8Viewport(ptr noundef nonnull align 8 dereferenceable(2184) %0, ptr noundef nonnull align 4 dereferenceable(104) %40, i64 %.sroa.22.0.insert.shift, i64 %.sroa.311.8.insert.insert)
          to label %43 unwind label %31

43:                                               ; preds = %39
  %44 = getelementptr inbounds i8, ptr %0, i64 328
  br label %.invoke

.invoke:                                          ; preds = %29, %43
  %45 = phi ptr [ %44, %43 ], [ %30, %29 ]
  %46 = phi i64 [ %.sroa.311.8.insert.insert, %43 ], [ 0, %29 ]
  %47 = phi i64 [ %.sroa.311.8.insert.insert, %43 ], [ %.sroa.315.8.insert.insert, %29 ]
  invoke void @_ZN13Visualization18WindowController3d11RenderSceneER11ViewControl8Viewport(ptr noundef nonnull align 8 dereferenceable(2184) %0, ptr noundef nonnull align 4 dereferenceable(104) %45, i64 %46, i64 %47)
          to label %48 unwind label %31

48:                                               ; preds = %.invoke
  %.not = icmp eq ptr %1, null
  br i1 %.not, label %56, label %49

49:                                               ; preds = %48
  %50 = mul i32 %20, 3
  %51 = mul i32 %50, %22
  %52 = sext i32 %51 to i64
  invoke void @_ZNSt6vectorIhSaIhEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %52)
          to label %53 unwind label %31

53:                                               ; preds = %49
  %54 = load ptr, ptr @glad_glReadPixels, align 8, !tbaa !55
  %55 = call noundef ptr @_ZNSt6vectorIhSaIhEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %1) #4
  invoke void %54(i32 noundef 0, i32 noundef 0, i32 noundef %20, i32 noundef %22, i32 noundef 32992, i32 noundef 5121, ptr noundef %55)
          to label %56 unwind label %31

56:                                               ; preds = %53, %48
  %.not51 = icmp eq ptr %2, null
  br i1 %.not51, label %58, label %57

57:                                               ; preds = %56
  store i32 %20, ptr %2, align 4, !tbaa !59
  br label %58

58:                                               ; preds = %57, %56
  %.not52 = icmp eq ptr %3, null
  br i1 %.not52, label %60, label %59

59:                                               ; preds = %58
  store i32 %22, ptr %3, align 4, !tbaa !59
  br label %60

60:                                               ; preds = %59, %58
  %61 = load ptr, ptr %7, align 8, !tbaa !5
  invoke void @glfwSwapBuffers(ptr noundef %61)
          to label %62 unwind label %31

62:                                               ; preds = %60
  invoke void @glfwPollEvents()
          to label %63 unwind label %31

63:                                               ; preds = %62
  call void @_ZNSt10lock_guardISt5mutexED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %5) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #4
  ret void

64:                                               ; preds = %27, %31, %25
  %.pn.pn = phi { ptr, i32 } [ %26, %25 ], [ %32, %31 ], [ %28, %27 ]
  call void @_ZNSt10lock_guardISt5mutexED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %5) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #4
  resume { ptr, i32 } %.pn.pn
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt10lock_guardISt5mutexEC2ERS0_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(40)) unnamed_addr #2 align 2

declare double @glfwGetTime() local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIhSaIhEE6resizeEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNSt6vectorIhSaIhEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #3 align 2

declare void @glfwSwapBuffers(ptr noundef) local_unnamed_addr #1

declare void @glfwPollEvents() local_unnamed_addr #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt10lock_guardISt5mutexED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #3 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { 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 #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 = { 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, !20, i64 2088}
!6 = !{!"_ZTSN13Visualization18WindowController3dE", !7, i64 0, !10, i64 4, !11, i64 8, !7, i64 12, !12, i64 16, !12, i64 120, !12, i64 224, !12, i64 328, !17, i64 432, !18, i64 464, !27, i64 736, !51, i64 1728, !52, i64 2048, !14, i64 2056, !16, i64 2060, !16, i64 2064, !16, i64 2068, !16, i64 2072, !14, i64 2076, !14, i64 2080, !20, i64 2088, !7, i64 2096, !7, i64 2097, !16, i64 2100, !8, i64 2104, !20, i64 2112, !20, i64 2120, !20, i64 2128, !20, i64 2136, !25, i64 2144}
!7 = !{!"bool", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"_ZTSN13Visualization8Layout3dE", !8, i64 0}
!11 = !{!"_ZTSN13Visualization18SkeletonRenderModeE", !8, i64 0}
!12 = !{!"_ZTS11ViewControl", !13, i64 0, !15, i64 72, !7, i64 88, !14, i64 92, !14, i64 96, !14, i64 100}
!13 = !{!"_ZTS14ViewParameters", !8, i64 0, !14, i64 12, !8, i64 16, !14, i64 28, !14, i64 32, !8, i64 36, !8, i64 48, !8, i64 60}
!14 = !{!"float", !8, i64 0}
!15 = !{!"_ZTS8Viewport", !16, i64 0, !16, i64 4, !16, i64 8, !16, i64 12}
!16 = !{!"int", !8, i64 0}
!17 = !{!"_ZTSSt5arrayIP11ViewControlLm4EE", !8, i64 0}
!18 = !{!"_ZTSN13Visualization18PointCloudRendererE", !19, i64 0, !14, i64 164, !21, i64 168, !7, i64 176, !16, i64 180, !16, i64 184, !16, i64 188, !16, i64 192, !16, i64 196, !16, i64 200, !16, i64 204, !16, i64 208, !16, i64 212, !16, i64 216, !16, i64 220, !16, i64 224, !25, i64 232}
!19 = !{!"_ZTSN13Visualization12RendererBaseE", !7, i64 8, !8, i64 12, !8, i64 76, !20, i64 144, !16, i64 152, !16, i64 156, !16, i64 160}
!20 = !{!"any pointer", !8, i64 0}
!21 = !{!"_ZTSSt8optionalIfE", !22, i64 0}
!22 = !{!"_ZTSSt14_Optional_baseIfLb1ELb1EE", !23, i64 0}
!23 = !{!"_ZTSSt17_Optional_payloadIfLb1ELb1ELb1EE", !24, i64 0}
!24 = !{!"_ZTSSt22_Optional_payload_baseIfE", !8, i64 0, !7, i64 4}
!25 = !{!"_ZTSSt5mutex", !26, i64 0}
!26 = !{!"_ZTSSt12__mutex_base", !8, i64 0}
!27 = !{!"_ZTSN13Visualization16SkeletonRendererE", !19, i64 0, !7, i64 164, !7, i64 165, !14, i64 168, !14, i64 172, !14, i64 176, !14, i64 180, !28, i64 184, !37, i64 440, !38, i64 696, !43, i64 944, !47, i64 968}
!28 = !{!"_ZTSN13Visualization6SphereE", !19, i64 0, !14, i64 164, !16, i64 168, !16, i64 172, !29, i64 176, !33, i64 200, !16, i64 224, !16, i64 228, !16, i64 232, !16, i64 236, !16, i64 240, !16, i64 244, !16, i64 248}
!29 = !{!"_ZTSSt6vectorIN13Visualization10MonoVertexESaIS1_EE", !30, i64 0}
!30 = !{!"_ZTSSt12_Vector_baseIN13Visualization10MonoVertexESaIS1_EE", !31, i64 0}
!31 = !{!"_ZTSNSt12_Vector_baseIN13Visualization10MonoVertexESaIS1_EE12_Vector_implE", !32, i64 0}
!32 = !{!"_ZTSNSt12_Vector_baseIN13Visualization10MonoVertexESaIS1_EE17_Vector_impl_dataE", !20, i64 0, !20, i64 8, !20, i64 16}
!33 = !{!"_ZTSSt6vectorIjSaIjEE", !34, i64 0}
!34 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !35, i64 0}
!35 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !36, i64 0}
!36 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !20, i64 0, !20, i64 8, !20, i64 16}
!37 = !{!"_ZTSN13Visualization8CylinderE", !19, i64 0, !14, i64 164, !14, i64 168, !16, i64 172, !29, i64 176, !33, i64 200, !16, i64 224, !16, i64 228, !16, i64 232, !16, i64 236, !16, i64 240, !16, i64 244, !16, i64 248}
!38 = !{!"_ZTSN13Visualization14CoordinateAxesE", !19, i64 0, !14, i64 164, !14, i64 168, !39, i64 176, !33, i64 200, !16, i64 224, !16, i64 228, !16, i64 232, !16, i64 236, !16, i64 240, !16, i64 244}
!39 = !{!"_ZTSSt6vectorIN13Visualization11ColorVertexESaIS1_EE", !40, i64 0}
!40 = !{!"_ZTSSt12_Vector_baseIN13Visualization11ColorVertexESaIS1_EE", !41, i64 0}
!41 = !{!"_ZTSNSt12_Vector_baseIN13Visualization11ColorVertexESaIS1_EE12_Vector_implE", !42, i64 0}
!42 = !{!"_ZTSNSt12_Vector_baseIN13Visualization11ColorVertexESaIS1_EE17_Vector_impl_dataE", !20, i64 0, !20, i64 8, !20, i64 16}
!43 = !{!"_ZTSSt6vectorIN13Visualization5JointESaIS1_EE", !44, i64 0}
!44 = !{!"_ZTSSt12_Vector_baseIN13Visualization5JointESaIS1_EE", !45, i64 0}
!45 = !{!"_ZTSNSt12_Vector_baseIN13Visualization5JointESaIS1_EE12_Vector_implE", !46, i64 0}
!46 = !{!"_ZTSNSt12_Vector_baseIN13Visualization5JointESaIS1_EE17_Vector_impl_dataE", !20, i64 0, !20, i64 8, !20, i64 16}
!47 = !{!"_ZTSSt6vectorIN13Visualization4BoneESaIS1_EE", !48, i64 0}
!48 = !{!"_ZTSSt12_Vector_baseIN13Visualization4BoneESaIS1_EE", !49, i64 0}
!49 = !{!"_ZTSNSt12_Vector_baseIN13Visualization4BoneESaIS1_EE12_Vector_implE", !50, i64 0}
!50 = !{!"_ZTSNSt12_Vector_baseIN13Visualization4BoneESaIS1_EE17_Vector_impl_dataE", !20, i64 0, !20, i64 8, !20, i64 16}
!51 = !{!"_ZTSN13Visualization13FloorRendererE", !19, i64 0, !8, i64 164, !14, i64 228, !14, i64 232, !29, i64 240, !33, i64 264, !16, i64 288, !16, i64 292, !16, i64 296, !16, i64 300, !16, i64 304, !16, i64 308, !16, i64 312}
!52 = !{!"double", !8, i64 0}
!53 = !{!6, !52, i64 2048}
!54 = !{!6, !14, i64 2056}
!55 = !{!20, !20, i64 0}
!56 = !{!6, !16, i64 2060}
!57 = !{!6, !16, i64 2064}
!58 = !{!6, !10, i64 4}
!59 = !{!16, !16, i64 0}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,IPSCCPPass,InferFunctionAttrsPass,InstCombinePass,PostOrderFunctionAttrsPass,ReassociatePass,SROAPass,SimplifyCFGPass