; LLVM IR from robinrodricks/InspiritImage :: Inspirit.Assurf/clib (rpp)

; 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._IPointMatch = type { ptr, ptr, ptr, double, double, i32, i32, i32 }
%struct._IPoint = type { i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, double, double, i32, i32, i32, double, ptr, i32, [256 x i8] }

; Function Attrs: nounwind uwtable
define dso_local double @estimatePoseFromMatches(ptr noundef %0, ptr noundef %1, ptr noundef %2, i32 noundef %3, i32 noundef %4, i32 noundef %5) #0 {
  %7 = alloca double, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca i32, align 4
  %12 = alloca i32, align 4
  %13 = alloca i32, align 4
  %14 = alloca i32, align 4
  %15 = alloca double, align 8
  %16 = alloca [9 x double], align 16
  %17 = alloca [9 x double], align 16
  %18 = alloca [3 x double], align 16
  %19 = alloca i32, align 4
  %20 = alloca i32, align 4
  %21 = alloca [2 x double], align 16
  %22 = alloca ptr, align 8
  %23 = alloca i64, align 8
  %24 = alloca i64, align 8
  %25 = alloca double, align 8
  %26 = alloca double, align 8
  %27 = alloca [2 x double], align 16
  %28 = alloca [2 x double], align 16
  %29 = alloca i32, align 4
  store ptr %0, ptr %8, align 8, !tbaa !5
  store ptr %1, ptr %9, align 8, !tbaa !5
  store ptr %2, ptr %10, align 8, !tbaa !5
  store i32 %3, ptr %11, align 4, !tbaa !9
  store i32 %4, ptr %12, align 4, !tbaa !9
  store i32 %5, ptr %13, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #4
  store i32 1, ptr %14, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #4
  store double 1.000000e+20, ptr %15, align 8, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 72, ptr %16) #4
  call void @llvm.lifetime.start.p0(i64 72, ptr %17) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr %18) #4
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #4
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #4
  call void @llvm.lifetime.start.p0(i64 16, ptr %21) #4
  %30 = load i32, ptr %12, align 4, !tbaa !9
  %31 = sitofp i32 %30 to double
  %32 = fmul double %31, -5.000000e-01
  store double %32, ptr %21, align 8, !tbaa !11
  %33 = getelementptr inbounds double, ptr %21, i64 1
  %34 = load i32, ptr %13, align 4, !tbaa !9
  %35 = sitofp i32 %34 to double
  %36 = fmul double %35, -5.000000e-01
  store double %36, ptr %33, align 8, !tbaa !11
  %37 = load i32, ptr %11, align 4, !tbaa !9
  %38 = mul nsw i32 %37, 3
  %39 = zext i32 %38 to i64
  %40 = call ptr @llvm.stacksave.p0()
  store ptr %40, ptr %22, align 8
  %41 = alloca double, i64 %39, align 16
  store i64 %39, ptr %23, align 8
  %42 = load i32, ptr %11, align 4, !tbaa !9
  %43 = mul nsw i32 %42, 3
  %44 = zext i32 %43 to i64
  %45 = alloca double, i64 %44, align 16
  store i64 %44, ptr %24, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #4
  store double 0.000000e+00, ptr %25, align 8, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #4
  store double 1.000000e+00, ptr %26, align 8, !tbaa !11
  store i32 0, ptr %19, align 4, !tbaa !9
  br label %46

46:                                               ; preds = %123, %6
  %47 = load i32, ptr %19, align 4, !tbaa !9
  %48 = load i32, ptr %11, align 4, !tbaa !9
  %49 = icmp slt i32 %47, %48
  br i1 %49, label %50, label %126

50:                                               ; preds = %46
  %51 = load ptr, ptr %9, align 8, !tbaa !5
  %52 = load i32, ptr %19, align 4, !tbaa !9
  %53 = sext i32 %52 to i64
  %54 = getelementptr inbounds %struct._IPointMatch, ptr %51, i64 %53
  %55 = getelementptr inbounds %struct._IPointMatch, ptr %54, i32 0, i32 0
  %56 = load ptr, ptr %55, align 8, !tbaa !13
  %57 = getelementptr inbounds %struct._IPoint, ptr %56, i32 0, i32 4
  %58 = load i32, ptr %57, align 8, !tbaa !15
  %59 = sitofp i32 %58 to double
  %60 = load i32, ptr %19, align 4, !tbaa !9
  %61 = mul nsw i32 %60, 3
  %62 = add nsw i32 %61, 0
  %63 = sext i32 %62 to i64
  %64 = getelementptr inbounds double, ptr %41, i64 %63
  store double %59, ptr %64, align 8, !tbaa !11
  %65 = load ptr, ptr %9, align 8, !tbaa !5
  %66 = load i32, ptr %19, align 4, !tbaa !9
  %67 = sext i32 %66 to i64
  %68 = getelementptr inbounds %struct._IPointMatch, ptr %65, i64 %67
  %69 = getelementptr inbounds %struct._IPointMatch, ptr %68, i32 0, i32 0
  %70 = load ptr, ptr %69, align 8, !tbaa !13
  %71 = getelementptr inbounds %struct._IPoint, ptr %70, i32 0, i32 5
  %72 = load i32, ptr %71, align 4, !tbaa !17
  %73 = sitofp i32 %72 to double
  %74 = load i32, ptr %19, align 4, !tbaa !9
  %75 = mul nsw i32 %74, 3
  %76 = add nsw i32 %75, 1
  %77 = sext i32 %76 to i64
  %78 = getelementptr inbounds double, ptr %41, i64 %77
  store double %73, ptr %78, align 8, !tbaa !11
  %79 = load i32, ptr %19, align 4, !tbaa !9
  %80 = mul nsw i32 %79, 3
  %81 = add nsw i32 %80, 2
  %82 = sext i32 %81 to i64
  %83 = getelementptr inbounds double, ptr %41, i64 %82
  store double 1.000000e+00, ptr %83, align 8, !tbaa !11
  %84 = getelementptr inbounds [2 x double], ptr %21, i64 0, i64 0
  %85 = load double, ptr %84, align 16, !tbaa !11
  %86 = load ptr, ptr %9, align 8, !tbaa !5
  %87 = load i32, ptr %19, align 4, !tbaa !9
  %88 = sext i32 %87 to i64
  %89 = getelementptr inbounds %struct._IPointMatch, ptr %86, i64 %88
  %90 = getelementptr inbounds %struct._IPointMatch, ptr %89, i32 0, i32 1
  %91 = load ptr, ptr %90, align 8, !tbaa !18
  %92 = getelementptr inbounds %struct._IPoint, ptr %91, i32 0, i32 4
  %93 = load i32, ptr %92, align 8, !tbaa !15
  %94 = sitofp i32 %93 to double
  %95 = fadd double %85, %94
  %96 = load i32, ptr %19, align 4, !tbaa !9
  %97 = mul nsw i32 %96, 3
  %98 = add nsw i32 %97, 0
  %99 = sext i32 %98 to i64
  %100 = getelementptr inbounds double, ptr %45, i64 %99
  store double %95, ptr %100, align 8, !tbaa !11
  %101 = getelementptr inbounds [2 x double], ptr %21, i64 0, i64 1
  %102 = load double, ptr %101, align 8, !tbaa !11
  %103 = load ptr, ptr %9, align 8, !tbaa !5
  %104 = load i32, ptr %19, align 4, !tbaa !9
  %105 = sext i32 %104 to i64
  %106 = getelementptr inbounds %struct._IPointMatch, ptr %103, i64 %105
  %107 = getelementptr inbounds %struct._IPointMatch, ptr %106, i32 0, i32 1
  %108 = load ptr, ptr %107, align 8, !tbaa !18
  %109 = getelementptr inbounds %struct._IPoint, ptr %108, i32 0, i32 5
  %110 = load i32, ptr %109, align 4, !tbaa !17
  %111 = sitofp i32 %110 to double
  %112 = fadd double %102, %111
  %113 = load i32, ptr %19, align 4, !tbaa !9
  %114 = mul nsw i32 %113, 3
  %115 = add nsw i32 %114, 1
  %116 = sext i32 %115 to i64
  %117 = getelementptr inbounds double, ptr %45, i64 %116
  store double %112, ptr %117, align 8, !tbaa !11
  %118 = load i32, ptr %19, align 4, !tbaa !9
  %119 = mul nsw i32 %118, 3
  %120 = add nsw i32 %119, 2
  %121 = sext i32 %120 to i64
  %122 = getelementptr inbounds double, ptr %45, i64 %121
  store double 0.000000e+00, ptr %122, align 8, !tbaa !11
  br label %123

123:                                              ; preds = %50
  %124 = load i32, ptr %19, align 4, !tbaa !9
  %125 = add nsw i32 %124, 1
  store i32 %125, ptr %19, align 4, !tbaa !9
  br label %46, !llvm.loop !19

126:                                              ; preds = %46
  call void @llvm.lifetime.start.p0(i64 16, ptr %27) #4
  %127 = load ptr, ptr %8, align 8, !tbaa !5
  %128 = getelementptr inbounds double, ptr %127, i64 0
  %129 = load double, ptr %128, align 8, !tbaa !11
  store double %129, ptr %27, align 8, !tbaa !11
  %130 = getelementptr inbounds double, ptr %27, i64 1
  %131 = load ptr, ptr %8, align 8, !tbaa !5
  %132 = getelementptr inbounds double, ptr %131, i64 1
  %133 = load double, ptr %132, align 8, !tbaa !11
  store double %133, ptr %130, align 8, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 16, ptr %28) #4
  %134 = load ptr, ptr %8, align 8, !tbaa !5
  %135 = getelementptr inbounds double, ptr %134, i64 2
  %136 = load double, ptr %135, align 8, !tbaa !11
  store double %136, ptr %28, align 8, !tbaa !11
  %137 = getelementptr inbounds double, ptr %28, i64 1
  %138 = load ptr, ptr %8, align 8, !tbaa !5
  %139 = getelementptr inbounds double, ptr %138, i64 3
  %140 = load double, ptr %139, align 8, !tbaa !11
  store double %140, ptr %137, align 8, !tbaa !11
  %141 = getelementptr inbounds [9 x double], ptr %16, i64 0, i64 0
  %142 = getelementptr inbounds [3 x double], ptr %18, i64 0, i64 0
  %143 = getelementptr inbounds [2 x double], ptr %27, i64 0, i64 0
  %144 = getelementptr inbounds [2 x double], ptr %28, i64 0, i64 0
  %145 = load i32, ptr %11, align 4, !tbaa !9
  %146 = getelementptr inbounds [9 x double], ptr %17, i64 0, i64 0
  call void @robustPlanarPose(ptr noundef %15, ptr noundef %141, ptr noundef %142, ptr noundef %143, ptr noundef %144, ptr noundef %45, ptr noundef %41, i32 noundef %145, ptr noundef %146, i32 noundef 1, double noundef 0.000000e+00, double noundef 0.000000e+00, i32 noundef 1000)
  store i32 0, ptr %19, align 4, !tbaa !9
  br label %147

147:                                              ; preds = %183, %126
  %148 = load i32, ptr %19, align 4, !tbaa !9
  %149 = icmp slt i32 %148, 3
  br i1 %149, label %150, label %186

150:                                              ; preds = %147
  %151 = load i32, ptr %19, align 4, !tbaa !9
  %152 = sext i32 %151 to i64
  %153 = getelementptr inbounds [3 x double], ptr %18, i64 0, i64 %152
  %154 = load double, ptr %153, align 8, !tbaa !11
  %155 = load ptr, ptr %10, align 8, !tbaa !5
  %156 = load i32, ptr %19, align 4, !tbaa !9
  %157 = mul nsw i32 %156, 4
  %158 = add nsw i32 %157, 3
  %159 = sext i32 %158 to i64
  %160 = getelementptr inbounds double, ptr %155, i64 %159
  store double %154, ptr %160, align 8, !tbaa !11
  store i32 0, ptr %20, align 4, !tbaa !9
  br label %161

161:                                              ; preds = %179, %150
  %162 = load i32, ptr %20, align 4, !tbaa !9
  %163 = icmp slt i32 %162, 3
  br i1 %163, label %164, label %182

164:                                              ; preds = %161
  %165 = load i32, ptr %19, align 4, !tbaa !9
  %166 = mul nsw i32 %165, 3
  %167 = load i32, ptr %20, align 4, !tbaa !9
  %168 = add nsw i32 %166, %167
  %169 = sext i32 %168 to i64
  %170 = getelementptr inbounds [9 x double], ptr %16, i64 0, i64 %169
  %171 = load double, ptr %170, align 8, !tbaa !11
  %172 = load ptr, ptr %10, align 8, !tbaa !5
  %173 = load i32, ptr %19, align 4, !tbaa !9
  %174 = mul nsw i32 %173, 4
  %175 = load i32, ptr %20, align 4, !tbaa !9
  %176 = add nsw i32 %174, %175
  %177 = sext i32 %176 to i64
  %178 = getelementptr inbounds double, ptr %172, i64 %177
  store double %171, ptr %178, align 8, !tbaa !11
  br label %179

179:                                              ; preds = %164
  %180 = load i32, ptr %20, align 4, !tbaa !9
  %181 = add nsw i32 %180, 1
  store i32 %181, ptr %20, align 4, !tbaa !9
  br label %161, !llvm.loop !21

182:                                              ; preds = %161
  br label %183

183:                                              ; preds = %182
  %184 = load i32, ptr %19, align 4, !tbaa !9
  %185 = add nsw i32 %184, 1
  store i32 %185, ptr %19, align 4, !tbaa !9
  br label %147, !llvm.loop !22

186:                                              ; preds = %147
  %187 = load double, ptr %15, align 8, !tbaa !11
  %188 = fcmp ogt double %187, 1.000000e+10
  br i1 %188, label %189, label %190

189:                                              ; preds = %186
  store double 1.000000e+10, ptr %7, align 8
  store i32 1, ptr %29, align 4
  br label %192

190:                                              ; preds = %186
  %191 = load double, ptr %15, align 8, !tbaa !11
  store double %191, ptr %7, align 8
  store i32 1, ptr %29, align 4
  br label %192

192:                                              ; preds = %190, %189
  call void @llvm.lifetime.end.p0(i64 16, ptr %28) #4
  call void @llvm.lifetime.end.p0(i64 16, ptr %27) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #4
  %193 = load ptr, ptr %22, align 8
  call void @llvm.stackrestore.p0(ptr %193)
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr %18) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr %17) #4
  call void @llvm.lifetime.end.p0(i64 72, ptr %16) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #4
  %194 = load double, ptr %7, align 8
  ret double %194
}

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

; Function Attrs: nocallback nofree nosync nounwind willreturn
declare ptr @llvm.stacksave.p0() #2

declare void @robustPlanarPose(ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, i32 noundef, ptr noundef, i32 noundef, double noundef, double noundef, i32 noundef) #3

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

; Function Attrs: nocallback nofree nosync nounwind willreturn
declare void @llvm.stackrestore.p0(ptr) #2

attributes #0 = { 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 #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { nocallback nofree nosync nounwind willreturn }
attributes #3 = { "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/C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"double", !7, i64 0}
!13 = !{!14, !6, i64 0}
!14 = !{!"_IPointMatch", !6, i64 0, !6, i64 8, !6, i64 16, !12, i64 24, !12, i64 32, !10, i64 40, !10, i64 44, !10, i64 48}
!15 = !{!16, !10, i64 16}
!16 = !{!"_IPoint", !10, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32, !10, i64 36, !12, i64 40, !12, i64 48, !10, i64 56, !10, i64 60, !10, i64 64, !12, i64 72, !6, i64 80, !10, i64 88, !7, i64 92}
!17 = !{!16, !10, i64 20}
!18 = !{!14, !6, i64 8}
!19 = distinct !{!19, !20}
!20 = !{!"llvm.loop.mustprogress"}
!21 = distinct !{!21, !20}
!22 = distinct !{!22, !20}


; 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"

%struct._IPointMatch = type { ptr, ptr, ptr, double, double, i32, i32, i32 }

; Function Attrs: nounwind uwtable
define dso_local double @estimatePoseFromMatches(ptr nocapture noundef readonly %0, ptr nocapture noundef readonly %1, ptr nocapture noundef writeonly %2, i32 noundef %3, i32 noundef %4, i32 noundef %5) local_unnamed_addr #0 {
  %7 = alloca double, align 8
  %8 = alloca [9 x double], align 16
  %9 = alloca [9 x double], align 16
  %10 = alloca [3 x double], align 16
  %11 = alloca [2 x double], align 16
  %12 = alloca [2 x double], align 16
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #5
  store double 1.000000e+20, ptr %7, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %8) #5
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %9) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %10) #5
  %13 = insertelement <2 x i32> poison, i32 %4, i64 0
  %14 = insertelement <2 x i32> %13, i32 %5, i64 1
  %15 = sitofp <2 x i32> %14 to <2 x double>
  %16 = fmul <2 x double> %15, <double 5.000000e-01, double 5.000000e-01>
  %17 = mul nsw i32 %3, 3
  %18 = zext i32 %17 to i64
  %19 = tail call ptr @llvm.stacksave.p0()
  %20 = alloca double, i64 %18, align 16
  %21 = alloca double, i64 %18, align 16
  %22 = icmp sgt i32 %3, 0
  br i1 %22, label %.lr.ph.preheader, label %._crit_edge

.lr.ph.preheader:                                 ; preds = %6
  %wide.trip.count = zext nneg i32 %3 to i64
  br label %.lr.ph

.lr.ph:                                           ; preds = %.lr.ph.preheader, %.lr.ph
  %indvars.iv = phi i64 [ 0, %.lr.ph.preheader ], [ %indvars.iv.next, %.lr.ph ]
  %23 = getelementptr inbounds %struct._IPointMatch, ptr %1, i64 %indvars.iv
  %24 = load ptr, ptr %23, align 8, !tbaa !9
  %25 = getelementptr inbounds i8, ptr %24, i64 16
  %26 = mul nuw nsw i64 %indvars.iv, 3
  %27 = getelementptr inbounds double, ptr %20, i64 %26
  %28 = load <2 x i32>, ptr %25, align 8, !tbaa !13
  %29 = sitofp <2 x i32> %28 to <2 x double>
  store <2 x double> %29, ptr %27, align 8, !tbaa !5
  %30 = add nuw nsw i64 %26, 2
  %31 = getelementptr inbounds double, ptr %20, i64 %30
  store double 1.000000e+00, ptr %31, align 8, !tbaa !5
  %32 = getelementptr inbounds i8, ptr %23, i64 8
  %33 = load ptr, ptr %32, align 8, !tbaa !14
  %34 = getelementptr inbounds i8, ptr %33, i64 16
  %35 = getelementptr inbounds double, ptr %21, i64 %26
  %36 = load <2 x i32>, ptr %34, align 8, !tbaa !13
  %37 = sitofp <2 x i32> %36 to <2 x double>
  %38 = fsub <2 x double> %37, %16
  store <2 x double> %38, ptr %35, align 8, !tbaa !5
  %39 = getelementptr inbounds double, ptr %21, i64 %30
  store double 0.000000e+00, ptr %39, align 8, !tbaa !5
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, %wide.trip.count
  br i1 %exitcond.not, label %._crit_edge, label %.lr.ph, !llvm.loop !15

._crit_edge:                                      ; preds = %.lr.ph, %6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %11) #5
  %40 = load <2 x double>, ptr %0, align 8, !tbaa !5
  store <2 x double> %40, ptr %11, align 16, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #5
  %41 = getelementptr inbounds i8, ptr %0, i64 16
  %42 = load <2 x double>, ptr %41, align 8, !tbaa !5
  store <2 x double> %42, ptr %12, align 16, !tbaa !5
  call void @robustPlanarPose(ptr noundef nonnull %7, ptr noundef nonnull %8, ptr noundef nonnull %10, ptr noundef nonnull %11, ptr noundef nonnull %12, ptr noundef nonnull %21, ptr noundef nonnull %20, i32 noundef %3, ptr noundef nonnull %9, i32 noundef 1, double noundef 0.000000e+00, double noundef 0.000000e+00, i32 noundef 1000) #5
  %43 = load double, ptr %10, align 16, !tbaa !5
  %44 = getelementptr inbounds i8, ptr %2, i64 24
  store double %43, ptr %44, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(24) %2, ptr noundef nonnull align 16 dereferenceable(24) %8, i64 24, i1 false), !tbaa !5
  %scevgep.1 = getelementptr i8, ptr %2, i64 32
  %scevgep47.1 = getelementptr inbounds i8, ptr %8, i64 24
  %45 = getelementptr inbounds i8, ptr %10, i64 8
  %46 = load double, ptr %45, align 8, !tbaa !5
  %47 = getelementptr inbounds i8, ptr %2, i64 56
  store double %46, ptr %47, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(24) %scevgep.1, ptr noundef nonnull align 8 dereferenceable(24) %scevgep47.1, i64 24, i1 false), !tbaa !5
  %scevgep.2 = getelementptr i8, ptr %2, i64 64
  %scevgep47.2 = getelementptr inbounds i8, ptr %8, i64 48
  %48 = getelementptr inbounds i8, ptr %10, i64 16
  %49 = load double, ptr %48, align 16, !tbaa !5
  %50 = getelementptr inbounds i8, ptr %2, i64 88
  store double %49, ptr %50, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(24) %scevgep.2, ptr noundef nonnull align 16 dereferenceable(24) %scevgep47.2, i64 24, i1 false), !tbaa !5
  %51 = load double, ptr %7, align 8, !tbaa !5
  %52 = fcmp ogt double %51, 1.000000e+10
  %. = select i1 %52, double 1.000000e+10, double %51
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #5
  call void @llvm.stackrestore.p0(ptr %19)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #5
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %9) #5
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %8) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #5
  ret double %.
}

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

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn
declare ptr @llvm.stacksave.p0() #2

declare void @robustPlanarPose(ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, i32 noundef, ptr noundef, i32 noundef, double noundef, double noundef, i32 noundef) local_unnamed_addr #3

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

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn
declare void @llvm.stackrestore.p0(ptr) #2

; 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) #4

attributes #0 = { 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 #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress nocallback nofree nosync nounwind willreturn }
attributes #3 = { "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 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #5 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C/C++ TBAA"}
!9 = !{!10, !11, i64 0}
!10 = !{!"_IPointMatch", !11, i64 0, !11, i64 8, !11, i64 16, !6, i64 24, !6, i64 32, !12, i64 40, !12, i64 44, !12, i64 48}
!11 = !{!"any pointer", !7, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = !{!12, !12, i64 0}
!14 = !{!10, !11, i64 8}
!15 = distinct !{!15, !16}
!16 = !{!"llvm.loop.mustprogress"}


; Effective O3 passes: EarlyCSEPass,GVNPass,GlobalOptPass,IndVarSimplifyPass,InferAlignmentPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LICMPass,LoopIdiomRecognizePass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,PostOrderFunctionAttrsPass,ReassociatePass,SLPVectorizerPass,SROAPass,SimplifyCFGPass,TailCallElimPass