; LLVM IR from ArefMq/SoccerBallDetection :: src/balldetector.ll (ZN7MVision12BallDetector6updateEv)

; 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::vector.0" = type { %"struct.std::_Vector_base.1" }
%"struct.std::_Vector_base.1" = type { %"struct.std::_Vector_base<MVision::Vector2D, std::allocator<MVision::Vector2D>>::_Vector_impl" }
%"struct.std::_Vector_base<MVision::Vector2D, std::allocator<MVision::Vector2D>>::_Vector_impl" = type { %"struct.std::_Vector_base<MVision::Vector2D, std::allocator<MVision::Vector2D>>::_Vector_impl_data" }
%"struct.std::_Vector_base<MVision::Vector2D, std::allocator<MVision::Vector2D>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.__gnu_cxx::__normal_iterator.20" = type { ptr }
%"class.__gnu_cxx::__normal_iterator" = type { ptr }
%"class.std::vector.15" = type { %"struct.std::_Vector_base.16" }
%"struct.std::_Vector_base.16" = type { %"struct.std::_Vector_base<MVision::Circle, std::allocator<MVision::Circle>>::_Vector_impl" }
%"struct.std::_Vector_base<MVision::Circle, std::allocator<MVision::Circle>>::_Vector_impl" = type { %"struct.std::_Vector_base<MVision::Circle, std::allocator<MVision::Circle>>::_Vector_impl_data" }
%"struct.std::_Vector_base<MVision::Circle, std::allocator<MVision::Circle>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.MVision::Circle" = type { %"class.MVision::Vector2D", float }
%"class.MVision::Vector2D" = type { float, float }
%"class.__gnu_cxx::__normal_iterator.21" = type { ptr }
%"class.MVision::Ball" = type { %"class.MVision::Circle", float }
%"class.MVision::BallDetector" = type { %class.Debugable, %"class.MVision::Image", %"class.std::vector", %"class.std::vector.0", double, ptr, ptr, ptr, ptr, ptr }
%class.Debugable = type { ptr, ptr }
%"class.MVision::Image" = type { i32, i32, i32, ptr }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<MVision::Ball, std::allocator<MVision::Ball>>::_Vector_impl" }
%"struct.std::_Vector_base<MVision::Ball, std::allocator<MVision::Ball>>::_Vector_impl" = type { %"struct.std::_Vector_base<MVision::Ball, std::allocator<MVision::Ball>>::_Vector_impl_data" }
%"struct.std::_Vector_base<MVision::Ball, std::allocator<MVision::Ball>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.MVision::ColorAnalyzer" = type { %class.Debugable, ptr, i32, %"class.std::vector.5" }
%"class.std::vector.5" = type { %"struct.std::_Vector_base.6" }
%"struct.std::_Vector_base.6" = 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.MVision::EdgeImage" = type { %class.Debugable, %"class.MVision::Image", i32, %"class.std::vector.5", ptr, %"class.std::vector.10", %"class.std::vector.0" }
%"class.std::vector.10" = type { %"struct.std::_Vector_base.11" }
%"struct.std::_Vector_base.11" = type { %"struct.std::_Vector_base<std::vector<MVision::Vector2D>, std::allocator<std::vector<MVision::Vector2D>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::vector<MVision::Vector2D>, std::allocator<std::vector<MVision::Vector2D>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::vector<MVision::Vector2D>, std::allocator<std::vector<MVision::Vector2D>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::vector<MVision::Vector2D>, std::allocator<std::vector<MVision::Vector2D>>>::_Vector_impl_data" = type { ptr, ptr, ptr }

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #0 align 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) #1

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7MVision12BallDetector6updateEv(ptr noundef nonnull align 8 dereferenceable(136) %0) #3 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca ptr, align 8
  %3 = alloca %"class.std::vector.0", align 8
  %4 = alloca ptr, align 8
  %5 = alloca i32, align 4
  %6 = alloca %"class.__gnu_cxx::__normal_iterator.20", align 8
  %7 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %8 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %9 = alloca ptr, align 8
  %10 = alloca %"class.std::vector.15", align 8
  %11 = alloca i32, align 4
  %12 = alloca %"class.MVision::Circle", align 4
  %13 = alloca %"class.__gnu_cxx::__normal_iterator.21", align 8
  %14 = alloca %"class.__gnu_cxx::__normal_iterator.21", align 8
  %15 = alloca i32, align 4
  %16 = alloca %"class.MVision::Circle", align 4
  %17 = alloca i32, align 4
  %18 = alloca %"class.MVision::Circle", align 4
  %19 = alloca i32, align 4
  %20 = alloca %"class.__gnu_cxx::__normal_iterator.21", align 8
  %21 = alloca %"class.MVision::Ball", align 4
  store ptr %0, ptr %2, align 8, !tbaa !5
  %22 = load ptr, ptr %2, align 8
  %23 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 5
  %24 = load ptr, ptr %23, align 8, !tbaa !9
  call void @_ZN7MVision13ColorAnalyzer6updateEv(ptr noundef nonnull align 8 dereferenceable(56) %24)
  %25 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 5
  %26 = load ptr, ptr %25, align 8, !tbaa !9
  %27 = getelementptr inbounds %"class.MVision::ColorAnalyzer", ptr %26, i32 0, i32 3
  %28 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 6
  %29 = load ptr, ptr %28, align 8, !tbaa !23
  %30 = getelementptr inbounds %"class.MVision::EdgeImage", ptr %29, i32 0, i32 3
  %31 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIiSaIiEEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %30, ptr noundef nonnull align 8 dereferenceable(24) %27)
  %32 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 6
  %33 = load ptr, ptr %32, align 8, !tbaa !23
  call void @_ZN7MVision9EdgeImage6updateEv(ptr noundef nonnull align 8 dereferenceable(128) %33)
  %34 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 7
  %35 = load ptr, ptr %34, align 8, !tbaa !24
  %36 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 3
  call void @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %3, ptr noundef nonnull align 8 dereferenceable(24) %36)
  invoke void @_ZN7MVision4FRHT6updateESt6vectorINS_8Vector2DESaIS2_EE(ptr noundef nonnull align 8 dereferenceable(48) %35, ptr noundef %3)
          to label %37 unwind label %51

37:                                               ; preds = %1
  call void @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %3) #7
  br label %38

38:                                               ; preds = %42, %37
  %39 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 3
  %40 = call noundef i64 @_ZNKSt6vectorIN7MVision8Vector2DESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %39) #7
  %41 = icmp ugt i64 %40, 5
  br i1 %41, label %42, label %55

42:                                               ; preds = %38
  %43 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 3
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #7
  %44 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 3
  %45 = call ptr @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %44) #7
  %46 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %7, i32 0, i32 0
  store ptr %45, ptr %46, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKN7MVision8Vector2DESt6vectorIS2_SaIS2_EEEC2IPS2_vEERKNS0_IT_S7_EE(ptr noundef nonnull align 8 dereferenceable(8) %6, ptr noundef nonnull align 8 dereferenceable(8) %7) #7
  %47 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.20", ptr %6, i32 0, i32 0
  %48 = load ptr, ptr %47, align 8
  %49 = call ptr @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EE5eraseEN9__gnu_cxx17__normal_iteratorIPKS1_S3_EE(ptr noundef nonnull align 8 dereferenceable(24) %43, ptr %48)
  %50 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %8, i32 0, i32 0
  store ptr %49, ptr %50, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #7
  br label %38, !llvm.loop !25

51:                                               ; preds = %1
  %52 = landingpad { ptr, i32 }
          cleanup
  %53 = extractvalue { ptr, i32 } %52, 0
  store ptr %53, ptr %4, align 8
  %54 = extractvalue { ptr, i32 } %52, 1
  store i32 %54, ptr %5, align 4
  call void @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %3) #7
  br label %303

55:                                               ; preds = %38
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #7
  %56 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 7
  %57 = load ptr, ptr %56, align 8, !tbaa !24
  %58 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7MVision4FRHT16extractedCirclesEv(ptr noundef nonnull align 8 dereferenceable(48) %57)
  store ptr %58, ptr %9, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 24, ptr %10) #7
  call void @_ZNSt6vectorIN7MVision6CircleESaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #7
  store i32 0, ptr %11, align 4, !tbaa !27
  call void @llvm.lifetime.start.p0(i64 12, ptr %12) #7
  invoke void @_ZN7MVision6CircleC1Ev(ptr noundef nonnull align 4 dereferenceable(12) %12)
          to label %59 unwind label %69

59:                                               ; preds = %55
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #7
  %60 = load ptr, ptr %9, align 8, !tbaa !5
  %61 = call ptr @_ZNKSt6vectorIN7MVision6CircleESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %60) #7
  %62 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.21", ptr %13, i32 0, i32 0
  store ptr %61, ptr %62, align 8
  br label %63

63:                                               ; preds = %283, %59
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #7
  %64 = load ptr, ptr %9, align 8, !tbaa !5
  %65 = call ptr @_ZNKSt6vectorIN7MVision6CircleESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %64) #7
  %66 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.21", ptr %14, i32 0, i32 0
  store ptr %65, ptr %66, align 8
  %67 = call noundef zeroext i1 @_ZN9__gnu_cxxltIPKN7MVision6CircleESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %13, ptr noundef nonnull align 8 dereferenceable(8) %14) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #7
  br i1 %67, label %73, label %68

68:                                               ; preds = %63
  store i32 4, ptr %15, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #7
  br label %288

69:                                               ; preds = %55
  %70 = landingpad { ptr, i32 }
          cleanup
  %71 = extractvalue { ptr, i32 } %70, 0
  store ptr %71, ptr %4, align 8
  %72 = extractvalue { ptr, i32 } %70, 1
  store i32 %72, ptr %5, align 4
  br label %302

73:                                               ; preds = %63
  call void @llvm.lifetime.start.p0(i64 12, ptr %16) #7
  %74 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPKN7MVision6CircleESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %13) #7
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %16, ptr align 4 %74, i64 12, i1 false), !tbaa.struct !28
  %75 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 7
  %76 = load ptr, ptr %75, align 8, !tbaa !24
  %77 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 5
  %78 = load ptr, ptr %77, align 8, !tbaa !9
  %79 = invoke noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %16)
          to label %80 unwind label %112

80:                                               ; preds = %73
  %81 = invoke noundef float @_ZNK7MVision8Vector2D1xEv(ptr noundef nonnull align 4 dereferenceable(8) %79)
          to label %82 unwind label %112

82:                                               ; preds = %80
  %83 = fptosi float %81 to i32
  %84 = invoke noundef i32 @_ZNK7MVision13ColorAnalyzer8boundaryEi(ptr noundef nonnull align 8 dereferenceable(56) %78, i32 noundef %83)
          to label %85 unwind label %112

85:                                               ; preds = %82
  %86 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 5
  %87 = load ptr, ptr %86, align 8, !tbaa !9
  invoke void @_ZN7MVision4FRHT13resizeCirlcleERNS_6CircleEiRKNS_13ColorAnalyzerE(ptr noundef nonnull align 8 dereferenceable(48) %76, ptr noundef nonnull align 4 dereferenceable(12) %16, i32 noundef %84, ptr noundef nonnull align 8 dereferenceable(56) %87)
          to label %88 unwind label %112

88:                                               ; preds = %85
  %89 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 7
  %90 = load ptr, ptr %89, align 8, !tbaa !24
  %91 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 5
  %92 = load ptr, ptr %91, align 8, !tbaa !9
  %93 = invoke noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %16)
          to label %94 unwind label %112

94:                                               ; preds = %88
  %95 = invoke noundef float @_ZNK7MVision8Vector2D1xEv(ptr noundef nonnull align 4 dereferenceable(8) %93)
          to label %96 unwind label %112

96:                                               ; preds = %94
  %97 = fptosi float %95 to i32
  %98 = invoke noundef i32 @_ZNK7MVision13ColorAnalyzer8boundaryEi(ptr noundef nonnull align 8 dereferenceable(56) %92, i32 noundef %97)
          to label %99 unwind label %112

99:                                               ; preds = %96
  %100 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 5
  %101 = load ptr, ptr %100, align 8, !tbaa !9
  invoke void @_ZN7MVision4FRHT13resizeCirlcleERNS_6CircleEiRKNS_13ColorAnalyzerE(ptr noundef nonnull align 8 dereferenceable(48) %90, ptr noundef nonnull align 4 dereferenceable(12) %16, i32 noundef %98, ptr noundef nonnull align 8 dereferenceable(56) %101)
          to label %102 unwind label %112

102:                                              ; preds = %99
  %103 = invoke noundef float @_ZNK7MVision6Circle7radiousEv(ptr noundef nonnull align 4 dereferenceable(12) %16)
          to label %104 unwind label %112

104:                                              ; preds = %102
  %105 = fpext float %103 to double
  %106 = fcmp olt double %105, 2.500000e+00
  br i1 %106, label %111, label %107

107:                                              ; preds = %104
  %108 = invoke noundef float @_ZNK7MVision6Circle7radiousEv(ptr noundef nonnull align 4 dereferenceable(12) %16)
          to label %109 unwind label %112

109:                                              ; preds = %107
  %110 = fcmp ogt float %108, 8.000000e+01
  br i1 %110, label %111, label %116

111:                                              ; preds = %109, %104
  store i32 6, ptr %15, align 4
  br label %280

112:                                              ; preds = %133, %128, %125, %123, %120, %118, %116, %107, %102, %99, %96, %94, %88, %85, %82, %80, %73
  %113 = landingpad { ptr, i32 }
          cleanup
  %114 = extractvalue { ptr, i32 } %113, 0
  store ptr %114, ptr %4, align 8
  %115 = extractvalue { ptr, i32 } %113, 1
  store i32 %115, ptr %5, align 4
  br label %287

116:                                              ; preds = %109
  %117 = invoke noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %16)
          to label %118 unwind label %112

118:                                              ; preds = %116
  %119 = invoke noundef float @_ZNK7MVision8Vector2D1xEv(ptr noundef nonnull align 4 dereferenceable(8) %117)
          to label %120 unwind label %112

120:                                              ; preds = %118
  %121 = fptosi float %119 to i32
  %122 = invoke noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %16)
          to label %123 unwind label %112

123:                                              ; preds = %120
  %124 = invoke noundef float @_ZNK7MVision8Vector2D1yEv(ptr noundef nonnull align 4 dereferenceable(8) %122)
          to label %125 unwind label %112

125:                                              ; preds = %123
  %126 = fptosi float %124 to i32
  %127 = invoke noundef float @_ZNK7MVision6Circle7radiousEv(ptr noundef nonnull align 4 dereferenceable(12) %16)
          to label %128 unwind label %112

128:                                              ; preds = %125
  %129 = fptosi float %127 to i32
  %130 = invoke noundef zeroext i1 @_ZN7MVision12BallDetector20checkWhitePercentageEiii(ptr noundef nonnull align 8 dereferenceable(136) %22, i32 noundef %121, i32 noundef %126, i32 noundef %129)
          to label %131 unwind label %112

131:                                              ; preds = %128
  br i1 %130, label %133, label %132

132:                                              ; preds = %131
  store i32 6, ptr %15, align 4
  br label %280

133:                                              ; preds = %131
  %134 = invoke noundef zeroext i1 @_ZN7MVision12BallDetector16checkBallTextureERKNS_6CircleE(ptr noundef nonnull align 8 dereferenceable(136) %22, ptr noundef nonnull align 4 dereferenceable(12) %16)
          to label %135 unwind label %112

135:                                              ; preds = %133
  br i1 %134, label %137, label %136

136:                                              ; preds = %135
  store i32 6, ptr %15, align 4
  br label %280

137:                                              ; preds = %135
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #7
  store i32 0, ptr %17, align 4, !tbaa !27
  call void @llvm.lifetime.start.p0(i64 12, ptr %18) #7
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %18, ptr align 4 %16, i64 12, i1 false), !tbaa.struct !28
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #7
  store i32 0, ptr %19, align 4, !tbaa !27
  br label %138

138:                                              ; preds = %224, %137
  %139 = load i32, ptr %19, align 4, !tbaa !27
  %140 = zext i32 %139 to i64
  %141 = call noundef i64 @_ZNKSt6vectorIN7MVision6CircleESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %10) #7
  %142 = icmp ult i64 %140, %141
  br i1 %142, label %144, label %143

143:                                              ; preds = %138
  store i32 7, ptr %15, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #7
  br label %227

144:                                              ; preds = %138
  %145 = load i32, ptr %19, align 4, !tbaa !27
  %146 = zext i32 %145 to i64
  %147 = invoke noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorIN7MVision6CircleESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %10, i64 noundef %146)
          to label %148 unwind label %219

148:                                              ; preds = %144
  %149 = invoke noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %147)
          to label %150 unwind label %219

150:                                              ; preds = %148
  %151 = invoke noundef float @_ZNK7MVision8Vector2D1xEv(ptr noundef nonnull align 4 dereferenceable(8) %149)
          to label %152 unwind label %219

152:                                              ; preds = %150
  %153 = invoke noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %16)
          to label %154 unwind label %219

154:                                              ; preds = %152
  %155 = invoke noundef float @_ZNK7MVision8Vector2D1xEv(ptr noundef nonnull align 4 dereferenceable(8) %153)
          to label %156 unwind label %219

156:                                              ; preds = %154
  %157 = fsub float %151, %155
  %158 = invoke noundef float @_ZSt3absf(float noundef %157)
          to label %159 unwind label %219

159:                                              ; preds = %156
  %160 = fcmp olt float %158, 5.000000e+00
  br i1 %160, label %161, label %223

161:                                              ; preds = %159
  %162 = load i32, ptr %19, align 4, !tbaa !27
  %163 = zext i32 %162 to i64
  %164 = invoke noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorIN7MVision6CircleESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %10, i64 noundef %163)
          to label %165 unwind label %219

165:                                              ; preds = %161
  %166 = invoke noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %164)
          to label %167 unwind label %219

167:                                              ; preds = %165
  %168 = invoke noundef float @_ZNK7MVision8Vector2D1yEv(ptr noundef nonnull align 4 dereferenceable(8) %166)
          to label %169 unwind label %219

169:                                              ; preds = %167
  %170 = invoke noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %16)
          to label %171 unwind label %219

171:                                              ; preds = %169
  %172 = invoke noundef float @_ZNK7MVision8Vector2D1yEv(ptr noundef nonnull align 4 dereferenceable(8) %170)
          to label %173 unwind label %219

173:                                              ; preds = %171
  %174 = fsub float %168, %172
  %175 = invoke noundef float @_ZSt3absf(float noundef %174)
          to label %176 unwind label %219

176:                                              ; preds = %173
  %177 = fcmp olt float %175, 5.000000e+00
  br i1 %177, label %178, label %223

178:                                              ; preds = %176
  %179 = load i32, ptr %19, align 4, !tbaa !27
  %180 = zext i32 %179 to i64
  %181 = invoke noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorIN7MVision6CircleESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %10, i64 noundef %180)
          to label %182 unwind label %219

182:                                              ; preds = %178
  %183 = invoke noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %181)
          to label %184 unwind label %219

184:                                              ; preds = %182
  %185 = invoke noundef float @_ZNK7MVision8Vector2D1xEv(ptr noundef nonnull align 4 dereferenceable(8) %183)
          to label %186 unwind label %219

186:                                              ; preds = %184
  %187 = invoke noundef nonnull align 4 dereferenceable(8) ptr @_ZN7MVision6Circle19mutable_translationEv(ptr noundef nonnull align 4 dereferenceable(12) %18)
          to label %188 unwind label %219

188:                                              ; preds = %186
  %189 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZN7MVision8Vector2D9mutable_xEv(ptr noundef nonnull align 4 dereferenceable(8) %187)
          to label %190 unwind label %219

190:                                              ; preds = %188
  %191 = load float, ptr %189, align 4, !tbaa !29
  %192 = fadd float %191, %185
  store float %192, ptr %189, align 4, !tbaa !29
  %193 = load i32, ptr %19, align 4, !tbaa !27
  %194 = zext i32 %193 to i64
  %195 = invoke noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorIN7MVision6CircleESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %10, i64 noundef %194)
          to label %196 unwind label %219

196:                                              ; preds = %190
  %197 = invoke noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %195)
          to label %198 unwind label %219

198:                                              ; preds = %196
  %199 = invoke noundef float @_ZNK7MVision8Vector2D1yEv(ptr noundef nonnull align 4 dereferenceable(8) %197)
          to label %200 unwind label %219

200:                                              ; preds = %198
  %201 = invoke noundef nonnull align 4 dereferenceable(8) ptr @_ZN7MVision6Circle19mutable_translationEv(ptr noundef nonnull align 4 dereferenceable(12) %18)
          to label %202 unwind label %219

202:                                              ; preds = %200
  %203 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZN7MVision8Vector2D9mutable_yEv(ptr noundef nonnull align 4 dereferenceable(8) %201)
          to label %204 unwind label %219

204:                                              ; preds = %202
  %205 = load float, ptr %203, align 4, !tbaa !29
  %206 = fadd float %205, %199
  store float %206, ptr %203, align 4, !tbaa !29
  %207 = load i32, ptr %19, align 4, !tbaa !27
  %208 = zext i32 %207 to i64
  %209 = invoke noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorIN7MVision6CircleESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %10, i64 noundef %208)
          to label %210 unwind label %219

210:                                              ; preds = %204
  %211 = invoke noundef float @_ZNK7MVision6Circle7radiousEv(ptr noundef nonnull align 4 dereferenceable(12) %209)
          to label %212 unwind label %219

212:                                              ; preds = %210
  %213 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZN7MVision6Circle15mutable_radiousEv(ptr noundef nonnull align 4 dereferenceable(12) %18)
          to label %214 unwind label %219

214:                                              ; preds = %212
  %215 = load float, ptr %213, align 4, !tbaa !29
  %216 = fadd float %215, %211
  store float %216, ptr %213, align 4, !tbaa !29
  %217 = load i32, ptr %17, align 4, !tbaa !27
  %218 = add nsw i32 %217, 1
  store i32 %218, ptr %17, align 4, !tbaa !27
  br label %223

219:                                              ; preds = %212, %210, %204, %202, %200, %198, %196, %190, %188, %186, %184, %182, %178, %173, %171, %169, %167, %165, %161, %156, %154, %152, %150, %148, %144
  %220 = landingpad { ptr, i32 }
          cleanup
  %221 = extractvalue { ptr, i32 } %220, 0
  store ptr %221, ptr %4, align 8
  %222 = extractvalue { ptr, i32 } %220, 1
  store i32 %222, ptr %5, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #7
  br label %286

223:                                              ; preds = %214, %176, %159
  br label %224

224:                                              ; preds = %223
  %225 = load i32, ptr %19, align 4, !tbaa !27
  %226 = add i32 %225, 1
  store i32 %226, ptr %19, align 4, !tbaa !27
  br label %138, !llvm.loop !31

227:                                              ; preds = %143
  %228 = load i32, ptr %17, align 4, !tbaa !27
  %229 = load i32, ptr %11, align 4, !tbaa !27
  %230 = icmp sgt i32 %228, %229
  br i1 %230, label %231, label %278

231:                                              ; preds = %227
  %232 = load i32, ptr %17, align 4, !tbaa !27
  %233 = add nsw i32 %232, 1
  %234 = sitofp i32 %233 to float
  %235 = invoke noundef nonnull align 4 dereferenceable(8) ptr @_ZN7MVision6Circle19mutable_translationEv(ptr noundef nonnull align 4 dereferenceable(12) %18)
          to label %236 unwind label %274

236:                                              ; preds = %231
  %237 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZN7MVision8Vector2D9mutable_xEv(ptr noundef nonnull align 4 dereferenceable(8) %235)
          to label %238 unwind label %274

238:                                              ; preds = %236
  %239 = load float, ptr %237, align 4, !tbaa !29
  %240 = fdiv float %239, %234
  store float %240, ptr %237, align 4, !tbaa !29
  %241 = load i32, ptr %17, align 4, !tbaa !27
  %242 = add nsw i32 %241, 1
  %243 = sitofp i32 %242 to float
  %244 = invoke noundef nonnull align 4 dereferenceable(8) ptr @_ZN7MVision6Circle19mutable_translationEv(ptr noundef nonnull align 4 dereferenceable(12) %18)
          to label %245 unwind label %274

245:                                              ; preds = %238
  %246 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZN7MVision8Vector2D9mutable_yEv(ptr noundef nonnull align 4 dereferenceable(8) %244)
          to label %247 unwind label %274

247:                                              ; preds = %245
  %248 = load float, ptr %246, align 4, !tbaa !29
  %249 = fdiv float %248, %243
  store float %249, ptr %246, align 4, !tbaa !29
  %250 = load i32, ptr %17, align 4, !tbaa !27
  %251 = add nsw i32 %250, 1
  %252 = sitofp i32 %251 to float
  %253 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZN7MVision6Circle15mutable_radiousEv(ptr noundef nonnull align 4 dereferenceable(12) %18)
          to label %254 unwind label %274

254:                                              ; preds = %247
  %255 = load float, ptr %253, align 4, !tbaa !29
  %256 = fdiv float %255, %252
  store float %256, ptr %253, align 4, !tbaa !29
  %257 = load i32, ptr %17, align 4, !tbaa !27
  store i32 %257, ptr %11, align 4, !tbaa !27
  %258 = invoke noundef nonnull align 4 dereferenceable(12) ptr @_ZN7MVision6CircleaSERKS0_(ptr noundef nonnull align 4 dereferenceable(12) %12, ptr noundef nonnull align 4 dereferenceable(12) %18)
          to label %259 unwind label %274

259:                                              ; preds = %254
  %260 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 7
  %261 = load ptr, ptr %260, align 8, !tbaa !24
  %262 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 5
  %263 = load ptr, ptr %262, align 8, !tbaa !9
  %264 = invoke noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %12)
          to label %265 unwind label %274

265:                                              ; preds = %259
  %266 = invoke noundef float @_ZNK7MVision8Vector2D1xEv(ptr noundef nonnull align 4 dereferenceable(8) %264)
          to label %267 unwind label %274

267:                                              ; preds = %265
  %268 = fptosi float %266 to i32
  %269 = invoke noundef i32 @_ZNK7MVision13ColorAnalyzer8boundaryEi(ptr noundef nonnull align 8 dereferenceable(56) %263, i32 noundef %268)
          to label %270 unwind label %274

270:                                              ; preds = %267
  %271 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 5
  %272 = load ptr, ptr %271, align 8, !tbaa !9
  invoke void @_ZN7MVision4FRHT13resizeCirlcleERNS_6CircleEiRKNS_13ColorAnalyzerE(ptr noundef nonnull align 8 dereferenceable(48) %261, ptr noundef nonnull align 4 dereferenceable(12) %12, i32 noundef %269, ptr noundef nonnull align 8 dereferenceable(56) %272)
          to label %273 unwind label %274

273:                                              ; preds = %270
  br label %278

274:                                              ; preds = %278, %270, %267, %265, %259, %254, %247, %245, %238, %236, %231
  %275 = landingpad { ptr, i32 }
          cleanup
  %276 = extractvalue { ptr, i32 } %275, 0
  store ptr %276, ptr %4, align 8
  %277 = extractvalue { ptr, i32 } %275, 1
  store i32 %277, ptr %5, align 4
  br label %286

278:                                              ; preds = %273, %227
  invoke void @_ZNSt6vectorIN7MVision6CircleESaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %10, ptr noundef nonnull align 4 dereferenceable(12) %16)
          to label %279 unwind label %274

279:                                              ; preds = %278
  call void @llvm.lifetime.end.p0(i64 12, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #7
  store i32 0, ptr %15, align 4
  br label %280

280:                                              ; preds = %279, %136, %132, %111
  call void @llvm.lifetime.end.p0(i64 12, ptr %16) #7
  %281 = load i32, ptr %15, align 4
  switch i32 %281, label %308 [
    i32 0, label %282
    i32 6, label %283
  ]

282:                                              ; preds = %280
  br label %283

283:                                              ; preds = %282, %280
  %284 = call ptr @_ZN9__gnu_cxx17__normal_iteratorIPKN7MVision6CircleESt6vectorIS2_SaIS2_EEEppEi(ptr noundef nonnull align 8 dereferenceable(8) %13, i32 noundef 0) #7
  %285 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.21", ptr %20, i32 0, i32 0
  store ptr %284, ptr %285, align 8
  br label %63, !llvm.loop !32

286:                                              ; preds = %274, %219
  call void @llvm.lifetime.end.p0(i64 12, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #7
  br label %287

287:                                              ; preds = %286, %112
  call void @llvm.lifetime.end.p0(i64 12, ptr %16) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #7
  br label %302

288:                                              ; preds = %68
  call void @llvm.lifetime.start.p0(i64 16, ptr %21) #7
  invoke void @_ZN7MVision4BallC1ERKNS_6CircleEf(ptr noundef nonnull align 4 dereferenceable(16) %21, ptr noundef nonnull align 4 dereferenceable(12) %12, float noundef 1.000000e+00)
          to label %289 unwind label %298

289:                                              ; preds = %288
  %290 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 2
  invoke void @_ZNSt6vectorIN7MVision4BallESaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %290, ptr noundef nonnull align 4 dereferenceable(16) %21)
          to label %291 unwind label %298

291:                                              ; preds = %289
  %292 = getelementptr inbounds %"class.MVision::BallDetector", ptr %22, i32 0, i32 3
  %293 = invoke noundef nonnull align 4 dereferenceable(12) ptr @_ZNK7MVision4Ball15PositionInImageEv(ptr noundef nonnull align 4 dereferenceable(16) %21)
          to label %294 unwind label %298

294:                                              ; preds = %291
  %295 = invoke noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %293)
          to label %296 unwind label %298

296:                                              ; preds = %294
  invoke void @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %292, ptr noundef nonnull align 4 dereferenceable(8) %295)
          to label %297 unwind label %298

297:                                              ; preds = %296
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #7
  call void @llvm.lifetime.end.p0(i64 12, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #7
  call void @_ZNSt6vectorIN7MVision6CircleESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %10) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #7
  ret void

298:                                              ; preds = %296, %294, %291, %289, %288
  %299 = landingpad { ptr, i32 }
          cleanup
  %300 = extractvalue { ptr, i32 } %299, 0
  store ptr %300, ptr %4, align 8
  %301 = extractvalue { ptr, i32 } %299, 1
  store i32 %301, ptr %5, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #7
  br label %302

302:                                              ; preds = %298, %287, %69
  call void @llvm.lifetime.end.p0(i64 12, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #7
  call void @_ZNSt6vectorIN7MVision6CircleESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %10) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #7
  br label %303

303:                                              ; preds = %302, %51
  %304 = load ptr, ptr %4, align 8
  %305 = load i32, ptr %5, align 4
  %306 = insertvalue { ptr, i32 } poison, ptr %304, 0
  %307 = insertvalue { ptr, i32 } %306, i32 %305, 1
  resume { ptr, i32 } %307

308:                                              ; preds = %280
  unreachable
}

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #2

declare void @_ZN7MVision13ColorAnalyzer6updateEv(ptr noundef nonnull align 8 dereferenceable(56)) #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIiSaIiEEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #3 align 2

declare void @_ZN7MVision9EdgeImage6updateEv(ptr noundef nonnull align 8 dereferenceable(128)) #4

declare void @_ZN7MVision4FRHT6updateESt6vectorINS_8Vector2DESaIS2_EE(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef) #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN7MVision8Vector2DESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EE5eraseEN9__gnu_cxx17__normal_iteratorIPKS1_S3_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN9__gnu_cxx17__normal_iteratorIPKN7MVision8Vector2DESt6vectorIS2_SaIS2_EEEC2IPS2_vEERKNS0_IT_S7_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #0 align 2

declare noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7MVision4FRHT16extractedCirclesEv(ptr noundef nonnull align 8 dereferenceable(48)) #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN7MVision6CircleESaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #0 align 2

declare void @_ZN7MVision6CircleC1Ev(ptr noundef nonnull align 4 dereferenceable(12)) unnamed_addr #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNKSt6vectorIN7MVision6CircleESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) #0 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxltIPKN7MVision6CircleESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNKSt6vectorIN7MVision6CircleESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPKN7MVision6CircleESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #0 align 2

declare void @_ZN7MVision4FRHT13resizeCirlcleERNS_6CircleEiRKNS_13ColorAnalyzerE(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef nonnull align 4 dereferenceable(12), i32 noundef, ptr noundef nonnull align 8 dereferenceable(56)) #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7MVision13ColorAnalyzer8boundaryEi(ptr noundef nonnull align 8 dereferenceable(56), i32 noundef) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK7MVision8Vector2D1xEv(ptr noundef nonnull align 4 dereferenceable(8)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK7MVision6Circle7radiousEv(ptr noundef nonnull align 4 dereferenceable(12)) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN7MVision12BallDetector20checkWhitePercentageEiii(ptr noundef nonnull align 8 dereferenceable(136), i32 noundef, i32 noundef, i32 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK7MVision8Vector2D1yEv(ptr noundef nonnull align 4 dereferenceable(8)) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN7MVision12BallDetector16checkBallTextureERKNS_6CircleE(ptr noundef nonnull align 8 dereferenceable(136), ptr noundef nonnull align 4 dereferenceable(12)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN7MVision6CircleESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #0 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3absf(float noundef) #5

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorIN7MVision6CircleESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(8) ptr @_ZN7MVision6Circle19mutable_translationEv(ptr noundef nonnull align 4 dereferenceable(12)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN7MVision8Vector2D9mutable_xEv(ptr noundef nonnull align 4 dereferenceable(8)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN7MVision8Vector2D9mutable_yEv(ptr noundef nonnull align 4 dereferenceable(8)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN7MVision6Circle15mutable_radiousEv(ptr noundef nonnull align 4 dereferenceable(12)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZN7MVision6CircleaSERKS0_(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIN7MVision6CircleESaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(12)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZN9__gnu_cxx17__normal_iteratorIPKN7MVision6CircleESt6vectorIS2_SaIS2_EEEppEi(ptr noundef nonnull align 8 dereferenceable(8), i32 noundef) #0 align 2

declare void @_ZN7MVision4BallC1ERKNS_6CircleEf(ptr noundef nonnull align 4 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(12), float noundef) unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIN7MVision4BallESaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(16)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(8)) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZNK7MVision4Ball15PositionInImageEv(ptr noundef nonnull align 4 dereferenceable(16)) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN7MVision6CircleESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #0 align 2

attributes #0 = { 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 #1 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress 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 #6 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !6, i64 96}
!10 = !{!"_ZTSN7MVision12BallDetectorE", !11, i64 0, !12, i64 16, !14, i64 40, !18, i64 64, !22, i64 88, !6, i64 96, !6, i64 104, !6, i64 112, !6, i64 120, !6, i64 128}
!11 = !{!"_ZTS9Debugable", !6, i64 8}
!12 = !{!"_ZTSN7MVision5ImageE", !13, i64 0, !13, i64 4, !13, i64 8, !6, i64 16}
!13 = !{!"int", !7, i64 0}
!14 = !{!"_ZTSSt6vectorIN7MVision4BallESaIS1_EE", !15, i64 0}
!15 = !{!"_ZTSSt12_Vector_baseIN7MVision4BallESaIS1_EE", !16, i64 0}
!16 = !{!"_ZTSNSt12_Vector_baseIN7MVision4BallESaIS1_EE12_Vector_implE", !17, i64 0}
!17 = !{!"_ZTSNSt12_Vector_baseIN7MVision4BallESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!18 = !{!"_ZTSSt6vectorIN7MVision8Vector2DESaIS1_EE", !19, i64 0}
!19 = !{!"_ZTSSt12_Vector_baseIN7MVision8Vector2DESaIS1_EE", !20, i64 0}
!20 = !{!"_ZTSNSt12_Vector_baseIN7MVision8Vector2DESaIS1_EE12_Vector_implE", !21, i64 0}
!21 = !{!"_ZTSNSt12_Vector_baseIN7MVision8Vector2DESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!22 = !{!"double", !7, i64 0}
!23 = !{!10, !6, i64 104}
!24 = !{!10, !6, i64 112}
!25 = distinct !{!25, !26}
!26 = !{!"llvm.loop.mustprogress"}
!27 = !{!13, !13, i64 0}
!28 = !{i64 0, i64 4, !29, i64 4, i64 4, !29, i64 8, i64 4, !29}
!29 = !{!30, !30, i64 0}
!30 = !{!"float", !7, i64 0}
!31 = distinct !{!31, !26}
!32 = distinct !{!32, !26}


; 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<MVision::Vector2D, std::allocator<MVision::Vector2D>>::_Vector_impl" }
%"struct.std::_Vector_base<MVision::Vector2D, std::allocator<MVision::Vector2D>>::_Vector_impl" = type { %"struct.std::_Vector_base<MVision::Vector2D, std::allocator<MVision::Vector2D>>::_Vector_impl_data" }
%"struct.std::_Vector_base<MVision::Vector2D, std::allocator<MVision::Vector2D>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.__gnu_cxx::__normal_iterator.20" = type { ptr }
%"class.__gnu_cxx::__normal_iterator" = type { ptr }
%"class.std::vector.15" = type { %"struct.std::_Vector_base.16" }
%"struct.std::_Vector_base.16" = type { %"struct.std::_Vector_base<MVision::Circle, std::allocator<MVision::Circle>>::_Vector_impl" }
%"struct.std::_Vector_base<MVision::Circle, std::allocator<MVision::Circle>>::_Vector_impl" = type { %"struct.std::_Vector_base<MVision::Circle, std::allocator<MVision::Circle>>::_Vector_impl_data" }
%"struct.std::_Vector_base<MVision::Circle, std::allocator<MVision::Circle>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.MVision::Circle" = type { %"class.MVision::Vector2D", float }
%"class.MVision::Vector2D" = type { float, float }
%"class.__gnu_cxx::__normal_iterator.21" = type { ptr }
%"class.MVision::Ball" = type { %"class.MVision::Circle", float }

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #0 align 2

; Function Attrs: mustprogress 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: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7MVision12BallDetector6updateEv(ptr noundef nonnull align 8 dereferenceable(136) %0) local_unnamed_addr #3 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca %"class.std::vector.0", align 8
  %3 = alloca %"class.__gnu_cxx::__normal_iterator.20", align 8
  %4 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %5 = alloca %"class.std::vector.15", align 8
  %6 = alloca %"class.MVision::Circle", align 4
  %7 = alloca %"class.__gnu_cxx::__normal_iterator.21", align 8
  %8 = alloca %"class.__gnu_cxx::__normal_iterator.21", align 8
  %9 = alloca %"class.MVision::Circle", align 4
  %10 = alloca %"class.MVision::Circle", align 4
  %11 = alloca %"class.MVision::Ball", align 4
  %12 = getelementptr inbounds i8, ptr %0, i64 96
  %13 = load ptr, ptr %12, align 8, !tbaa !5
  tail call void @_ZN7MVision13ColorAnalyzer6updateEv(ptr noundef nonnull align 8 dereferenceable(56) %13)
  %14 = load ptr, ptr %12, align 8, !tbaa !5
  %15 = getelementptr inbounds i8, ptr %14, i64 32
  %16 = getelementptr inbounds i8, ptr %0, i64 104
  %17 = load ptr, ptr %16, align 8, !tbaa !22
  %18 = getelementptr inbounds i8, ptr %17, i64 48
  %19 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIiSaIiEEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %18, ptr noundef nonnull align 8 dereferenceable(24) %15)
  %20 = load ptr, ptr %16, align 8, !tbaa !22
  tail call void @_ZN7MVision9EdgeImage6updateEv(ptr noundef nonnull align 8 dereferenceable(128) %20)
  %21 = getelementptr inbounds i8, ptr %0, i64 112
  %22 = load ptr, ptr %21, align 8, !tbaa !23
  %23 = getelementptr inbounds i8, ptr %0, i64 64
  call void @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %2, ptr noundef nonnull align 8 dereferenceable(24) %23)
  invoke void @_ZN7MVision4FRHT6updateESt6vectorINS_8Vector2DESaIS2_EE(ptr noundef nonnull align 8 dereferenceable(48) %22, ptr noundef nonnull %2)
          to label %24 unwind label %32

24:                                               ; preds = %1
  call void @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %2) #7
  %25 = call noundef i64 @_ZNKSt6vectorIN7MVision8Vector2DESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %23) #7
  %26 = icmp ugt i64 %25, 5
  br i1 %26, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %24, %.lr.ph
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #7
  %27 = call ptr @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %23) #7
  store ptr %27, ptr %4, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKN7MVision8Vector2DESt6vectorIS2_SaIS2_EEEC2IPS2_vEERKNS0_IT_S7_EE(ptr noundef nonnull align 8 dereferenceable(8) %3, ptr noundef nonnull align 8 dereferenceable(8) %4) #7
  %28 = load ptr, ptr %3, align 8
  %29 = call ptr @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EE5eraseEN9__gnu_cxx17__normal_iteratorIPKS1_S3_EE(ptr noundef nonnull align 8 dereferenceable(24) %23, ptr %28)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #7
  %30 = call noundef i64 @_ZNKSt6vectorIN7MVision8Vector2DESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %23) #7
  %31 = icmp ugt i64 %30, 5
  br i1 %31, label %.lr.ph, label %._crit_edge, !llvm.loop !24

32:                                               ; preds = %1
  %33 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %2) #7
  br label %179

._crit_edge:                                      ; preds = %.lr.ph, %24
  %34 = load ptr, ptr %21, align 8, !tbaa !23
  %35 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7MVision4FRHT16extractedCirclesEv(ptr noundef nonnull align 8 dereferenceable(48) %34)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %5) #7
  call void @_ZNSt6vectorIN7MVision6CircleESaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #7
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %6) #7
  invoke void @_ZN7MVision6CircleC1Ev(ptr noundef nonnull align 4 dereferenceable(12) %6)
          to label %36 unwind label %40

36:                                               ; preds = %._crit_edge
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #7
  %37 = call ptr @_ZNKSt6vectorIN7MVision6CircleESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %35) #7
  store ptr %37, ptr %7, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #7
  %38 = call ptr @_ZNKSt6vectorIN7MVision6CircleESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %35) #7
  store ptr %38, ptr %8, align 8
  %39 = call noundef zeroext i1 @_ZN9__gnu_cxxltIPKN7MVision6CircleESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %7, ptr noundef nonnull align 8 dereferenceable(8) %8) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #7
  br i1 %39, label %.lr.ph42, label %._crit_edge43

._crit_edge43:                                    ; preds = %164, %36
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %11) #7
  invoke void @_ZN7MVision4BallC1ERKNS_6CircleEf(ptr noundef nonnull align 4 dereferenceable(16) %11, ptr noundef nonnull align 4 dereferenceable(12) %6, float noundef 1.000000e+00)
          to label %170 unwind label %176

40:                                               ; preds = %._crit_edge
  %41 = landingpad { ptr, i32 }
          cleanup
  br label %178

.lr.ph42:                                         ; preds = %36, %164
  %.02240 = phi i32 [ %.224, %164 ], [ 0, %36 ]
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %9) #7
  %42 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPKN7MVision6CircleESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %7) #7
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 4 dereferenceable(12) %9, ptr noundef nonnull align 4 dereferenceable(12) %42, i64 12, i1 false), !tbaa.struct !26
  %43 = load ptr, ptr %21, align 8, !tbaa !23
  %44 = load ptr, ptr %12, align 8, !tbaa !5
  %45 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %9)
  %46 = call noundef float @_ZNK7MVision8Vector2D1xEv(ptr noundef nonnull align 4 dereferenceable(8) %45)
  %47 = fptosi float %46 to i32
  %48 = invoke noundef i32 @_ZNK7MVision13ColorAnalyzer8boundaryEi(ptr noundef nonnull align 8 dereferenceable(56) %44, i32 noundef %47)
          to label %49 unwind label %66

49:                                               ; preds = %.lr.ph42
  %50 = load ptr, ptr %12, align 8, !tbaa !5
  invoke void @_ZN7MVision4FRHT13resizeCirlcleERNS_6CircleEiRKNS_13ColorAnalyzerE(ptr noundef nonnull align 8 dereferenceable(48) %43, ptr noundef nonnull align 4 dereferenceable(12) %9, i32 noundef %48, ptr noundef nonnull align 8 dereferenceable(56) %50)
          to label %51 unwind label %66

51:                                               ; preds = %49
  %52 = load ptr, ptr %21, align 8, !tbaa !23
  %53 = load ptr, ptr %12, align 8, !tbaa !5
  %54 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %9)
  %55 = call noundef float @_ZNK7MVision8Vector2D1xEv(ptr noundef nonnull align 4 dereferenceable(8) %54)
  %56 = fptosi float %55 to i32
  %57 = invoke noundef i32 @_ZNK7MVision13ColorAnalyzer8boundaryEi(ptr noundef nonnull align 8 dereferenceable(56) %53, i32 noundef %56)
          to label %58 unwind label %66

58:                                               ; preds = %51
  %59 = load ptr, ptr %12, align 8, !tbaa !5
  invoke void @_ZN7MVision4FRHT13resizeCirlcleERNS_6CircleEiRKNS_13ColorAnalyzerE(ptr noundef nonnull align 8 dereferenceable(48) %52, ptr noundef nonnull align 4 dereferenceable(12) %9, i32 noundef %57, ptr noundef nonnull align 8 dereferenceable(56) %59)
          to label %60 unwind label %66

60:                                               ; preds = %58
  %61 = call noundef float @_ZNK7MVision6Circle7radiousEv(ptr noundef nonnull align 4 dereferenceable(12) %9)
  %62 = fcmp olt float %61, 2.500000e+00
  br i1 %62, label %164, label %63

63:                                               ; preds = %60
  %64 = call noundef float @_ZNK7MVision6Circle7radiousEv(ptr noundef nonnull align 4 dereferenceable(12) %9)
  %65 = fcmp ogt float %64, 8.000000e+01
  br i1 %65, label %164, label %68

66:                                               ; preds = %79, %68, %58, %51, %49, %.lr.ph42
  %67 = landingpad { ptr, i32 }
          cleanup
  br label %169

68:                                               ; preds = %63
  %69 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %9)
  %70 = call noundef float @_ZNK7MVision8Vector2D1xEv(ptr noundef nonnull align 4 dereferenceable(8) %69)
  %71 = fptosi float %70 to i32
  %72 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %9)
  %73 = call noundef float @_ZNK7MVision8Vector2D1yEv(ptr noundef nonnull align 4 dereferenceable(8) %72)
  %74 = fptosi float %73 to i32
  %75 = call noundef float @_ZNK7MVision6Circle7radiousEv(ptr noundef nonnull align 4 dereferenceable(12) %9)
  %76 = fptosi float %75 to i32
  %77 = invoke noundef zeroext i1 @_ZN7MVision12BallDetector20checkWhitePercentageEiii(ptr noundef nonnull align 8 dereferenceable(136) %0, i32 noundef %71, i32 noundef %74, i32 noundef %76)
          to label %78 unwind label %66

78:                                               ; preds = %68
  br i1 %77, label %79, label %164

79:                                               ; preds = %78
  %80 = invoke noundef zeroext i1 @_ZN7MVision12BallDetector16checkBallTextureERKNS_6CircleE(ptr noundef nonnull align 8 dereferenceable(136) %0, ptr noundef nonnull align 4 dereferenceable(12) %9)
          to label %81 unwind label %66

81:                                               ; preds = %79
  br i1 %80, label %82, label %164

82:                                               ; preds = %81
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %10) #7
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 4 dereferenceable(12) %10, ptr noundef nonnull align 4 dereferenceable(12) %9, i64 12, i1 false), !tbaa.struct !26
  %83 = call noundef i64 @_ZNKSt6vectorIN7MVision6CircleESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %5) #7
  %.not = icmp eq i64 %83, 0
  br i1 %.not, label %._crit_edge39, label %.lr.ph38

._crit_edge39:                                    ; preds = %131, %82
  %.020.lcssa = phi i32 [ 0, %82 ], [ %.121, %131 ]
  %84 = icmp sgt i32 %.020.lcssa, %.02240
  br i1 %84, label %136, label %162

.lr.ph38:                                         ; preds = %82, %131
  %85 = phi i64 [ %133, %131 ], [ 0, %82 ]
  %.01936 = phi i32 [ %132, %131 ], [ 0, %82 ]
  %.02035 = phi i32 [ %.121, %131 ], [ 0, %82 ]
  %86 = invoke noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorIN7MVision6CircleESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %85)
          to label %87 unwind label %129

87:                                               ; preds = %.lr.ph38
  %88 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %86)
  %89 = call noundef float @_ZNK7MVision8Vector2D1xEv(ptr noundef nonnull align 4 dereferenceable(8) %88)
  %90 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %9)
  %91 = call noundef float @_ZNK7MVision8Vector2D1xEv(ptr noundef nonnull align 4 dereferenceable(8) %90)
  %92 = fsub float %89, %91
  %93 = call noundef float @_ZSt3absf(float noundef %92)
  %94 = fcmp olt float %93, 5.000000e+00
  br i1 %94, label %95, label %131

95:                                               ; preds = %87
  %96 = invoke noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorIN7MVision6CircleESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %85)
          to label %97 unwind label %129

97:                                               ; preds = %95
  %98 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %96)
  %99 = call noundef float @_ZNK7MVision8Vector2D1yEv(ptr noundef nonnull align 4 dereferenceable(8) %98)
  %100 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %9)
  %101 = call noundef float @_ZNK7MVision8Vector2D1yEv(ptr noundef nonnull align 4 dereferenceable(8) %100)
  %102 = fsub float %99, %101
  %103 = call noundef float @_ZSt3absf(float noundef %102)
  %104 = fcmp olt float %103, 5.000000e+00
  br i1 %104, label %105, label %131

105:                                              ; preds = %97
  %106 = invoke noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorIN7MVision6CircleESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %85)
          to label %107 unwind label %129

107:                                              ; preds = %105
  %108 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %106)
  %109 = call noundef float @_ZNK7MVision8Vector2D1xEv(ptr noundef nonnull align 4 dereferenceable(8) %108)
  %110 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZN7MVision6Circle19mutable_translationEv(ptr noundef nonnull align 4 dereferenceable(12) %10)
  %111 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7MVision8Vector2D9mutable_xEv(ptr noundef nonnull align 4 dereferenceable(8) %110)
  %112 = load float, ptr %111, align 4, !tbaa !27
  %113 = fadd float %109, %112
  store float %113, ptr %111, align 4, !tbaa !27
  %114 = invoke noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorIN7MVision6CircleESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %85)
          to label %115 unwind label %129

115:                                              ; preds = %107
  %116 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %114)
  %117 = call noundef float @_ZNK7MVision8Vector2D1yEv(ptr noundef nonnull align 4 dereferenceable(8) %116)
  %118 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZN7MVision6Circle19mutable_translationEv(ptr noundef nonnull align 4 dereferenceable(12) %10)
  %119 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7MVision8Vector2D9mutable_yEv(ptr noundef nonnull align 4 dereferenceable(8) %118)
  %120 = load float, ptr %119, align 4, !tbaa !27
  %121 = fadd float %117, %120
  store float %121, ptr %119, align 4, !tbaa !27
  %122 = invoke noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorIN7MVision6CircleESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %85)
          to label %123 unwind label %129

123:                                              ; preds = %115
  %124 = call noundef float @_ZNK7MVision6Circle7radiousEv(ptr noundef nonnull align 4 dereferenceable(12) %122)
  %125 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7MVision6Circle15mutable_radiousEv(ptr noundef nonnull align 4 dereferenceable(12) %10)
  %126 = load float, ptr %125, align 4, !tbaa !27
  %127 = fadd float %124, %126
  store float %127, ptr %125, align 4, !tbaa !27
  %128 = add nsw i32 %.02035, 1
  br label %131

129:                                              ; preds = %115, %107, %105, %95, %.lr.ph38
  %130 = landingpad { ptr, i32 }
          cleanup
  br label %168

131:                                              ; preds = %87, %97, %123
  %.121 = phi i32 [ %128, %123 ], [ %.02035, %97 ], [ %.02035, %87 ]
  %132 = add i32 %.01936, 1
  %133 = zext i32 %132 to i64
  %134 = call noundef i64 @_ZNKSt6vectorIN7MVision6CircleESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %5) #7
  %135 = icmp ugt i64 %134, %133
  br i1 %135, label %.lr.ph38, label %._crit_edge39, !llvm.loop !29

136:                                              ; preds = %._crit_edge39
  %137 = add nuw nsw i32 %.020.lcssa, 1
  %138 = uitofp nneg i32 %137 to float
  %139 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZN7MVision6Circle19mutable_translationEv(ptr noundef nonnull align 4 dereferenceable(12) %10)
  %140 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7MVision8Vector2D9mutable_xEv(ptr noundef nonnull align 4 dereferenceable(8) %139)
  %141 = load float, ptr %140, align 4, !tbaa !27
  %142 = fdiv float %141, %138
  store float %142, ptr %140, align 4, !tbaa !27
  %143 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZN7MVision6Circle19mutable_translationEv(ptr noundef nonnull align 4 dereferenceable(12) %10)
  %144 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7MVision8Vector2D9mutable_yEv(ptr noundef nonnull align 4 dereferenceable(8) %143)
  %145 = load float, ptr %144, align 4, !tbaa !27
  %146 = fdiv float %145, %138
  store float %146, ptr %144, align 4, !tbaa !27
  %147 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN7MVision6Circle15mutable_radiousEv(ptr noundef nonnull align 4 dereferenceable(12) %10)
  %148 = load float, ptr %147, align 4, !tbaa !27
  %149 = fdiv float %148, %138
  store float %149, ptr %147, align 4, !tbaa !27
  %150 = invoke noundef nonnull align 4 dereferenceable(12) ptr @_ZN7MVision6CircleaSERKS0_(ptr noundef nonnull align 4 dereferenceable(12) %6, ptr noundef nonnull align 4 dereferenceable(12) %10)
          to label %151 unwind label %160

151:                                              ; preds = %136
  %152 = load ptr, ptr %21, align 8, !tbaa !23
  %153 = load ptr, ptr %12, align 8, !tbaa !5
  %154 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %6)
  %155 = call noundef float @_ZNK7MVision8Vector2D1xEv(ptr noundef nonnull align 4 dereferenceable(8) %154)
  %156 = fptosi float %155 to i32
  %157 = invoke noundef i32 @_ZNK7MVision13ColorAnalyzer8boundaryEi(ptr noundef nonnull align 8 dereferenceable(56) %153, i32 noundef %156)
          to label %158 unwind label %160

158:                                              ; preds = %151
  %159 = load ptr, ptr %12, align 8, !tbaa !5
  invoke void @_ZN7MVision4FRHT13resizeCirlcleERNS_6CircleEiRKNS_13ColorAnalyzerE(ptr noundef nonnull align 8 dereferenceable(48) %152, ptr noundef nonnull align 4 dereferenceable(12) %6, i32 noundef %157, ptr noundef nonnull align 8 dereferenceable(56) %159)
          to label %162 unwind label %160

160:                                              ; preds = %162, %158, %151, %136
  %161 = landingpad { ptr, i32 }
          cleanup
  br label %168

162:                                              ; preds = %158, %._crit_edge39
  %.123 = phi i32 [ %.020.lcssa, %158 ], [ %.02240, %._crit_edge39 ]
  invoke void @_ZNSt6vectorIN7MVision6CircleESaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %5, ptr noundef nonnull align 4 dereferenceable(12) %9)
          to label %163 unwind label %160

163:                                              ; preds = %162
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %10) #7
  br label %164

164:                                              ; preds = %81, %78, %60, %63, %163
  %.224 = phi i32 [ %.123, %163 ], [ %.02240, %63 ], [ %.02240, %60 ], [ %.02240, %78 ], [ %.02240, %81 ]
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %9) #7
  %165 = call ptr @_ZN9__gnu_cxx17__normal_iteratorIPKN7MVision6CircleESt6vectorIS2_SaIS2_EEEppEi(ptr noundef nonnull align 8 dereferenceable(8) %7, i32 noundef 0) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #7
  %166 = call ptr @_ZNKSt6vectorIN7MVision6CircleESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %35) #7
  store ptr %166, ptr %8, align 8
  %167 = call noundef zeroext i1 @_ZN9__gnu_cxxltIPKN7MVision6CircleESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8) %7, ptr noundef nonnull align 8 dereferenceable(8) %8) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #7
  br i1 %167, label %.lr.ph42, label %._crit_edge43, !llvm.loop !30

168:                                              ; preds = %160, %129
  %.pn = phi { ptr, i32 } [ %130, %129 ], [ %161, %160 ]
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %10) #7
  br label %169

169:                                              ; preds = %168, %66
  %.pn.pn = phi { ptr, i32 } [ %.pn, %168 ], [ %67, %66 ]
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %9) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #7
  br label %178

170:                                              ; preds = %._crit_edge43
  %171 = getelementptr inbounds i8, ptr %0, i64 40
  invoke void @_ZNSt6vectorIN7MVision4BallESaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %171, ptr noundef nonnull align 4 dereferenceable(16) %11)
          to label %172 unwind label %176

172:                                              ; preds = %170
  %173 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNK7MVision4Ball15PositionInImageEv(ptr noundef nonnull align 4 dereferenceable(16) %11)
  %174 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12) %173)
  invoke void @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %23, ptr noundef nonnull align 4 dereferenceable(8) %174)
          to label %175 unwind label %176

175:                                              ; preds = %172
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #7
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %6) #7
  call void @_ZNSt6vectorIN7MVision6CircleESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #7
  ret void

176:                                              ; preds = %172, %170, %._crit_edge43
  %177 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #7
  br label %178

178:                                              ; preds = %176, %169, %40
  %.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn, %169 ], [ %177, %176 ], [ %41, %40 ]
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %6) #7
  call void @_ZNSt6vectorIN7MVision6CircleESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #7
  br label %179

179:                                              ; preds = %178, %32
  %.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn, %178 ], [ %33, %32 ]
  resume { ptr, i32 } %.pn.pn.pn.pn
}

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #2

declare void @_ZN7MVision13ColorAnalyzer6updateEv(ptr noundef nonnull align 8 dereferenceable(56)) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorIiSaIiEEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #3 align 2

declare void @_ZN7MVision9EdgeImage6updateEv(ptr noundef nonnull align 8 dereferenceable(128)) local_unnamed_addr #4

declare void @_ZN7MVision4FRHT6updateESt6vectorINS_8Vector2DESaIS2_EE(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN7MVision8Vector2DESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EE5eraseEN9__gnu_cxx17__normal_iteratorIPKS1_S3_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN9__gnu_cxx17__normal_iteratorIPKN7MVision8Vector2DESt6vectorIS2_SaIS2_EEEC2IPS2_vEERKNS0_IT_S7_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #0 align 2

declare noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7MVision4FRHT16extractedCirclesEv(ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN7MVision6CircleESaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #0 align 2

declare void @_ZN7MVision6CircleC1Ev(ptr noundef nonnull align 4 dereferenceable(12)) unnamed_addr #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNKSt6vectorIN7MVision6CircleESaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxltIPKN7MVision6CircleESt6vectorIS2_SaIS2_EEEEbRKNS_17__normal_iteratorIT_T0_EESD_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNKSt6vectorIN7MVision6CircleESaIS1_EE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPKN7MVision6CircleESt6vectorIS2_SaIS2_EEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #0 align 2

declare void @_ZN7MVision4FRHT13resizeCirlcleERNS_6CircleEiRKNS_13ColorAnalyzerE(ptr noundef nonnull align 8 dereferenceable(48), ptr noundef nonnull align 4 dereferenceable(12), i32 noundef, ptr noundef nonnull align 8 dereferenceable(56)) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7MVision13ColorAnalyzer8boundaryEi(ptr noundef nonnull align 8 dereferenceable(56), i32 noundef) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(8) ptr @_ZNK7MVision6Circle11translationEv(ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK7MVision8Vector2D1xEv(ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK7MVision6Circle7radiousEv(ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN7MVision12BallDetector20checkWhitePercentageEiii(ptr noundef nonnull align 8 dereferenceable(136), i32 noundef, i32 noundef, i32 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK7MVision8Vector2D1yEv(ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN7MVision12BallDetector16checkBallTextureERKNS_6CircleE(ptr noundef nonnull align 8 dereferenceable(136), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN7MVision6CircleESaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3absf(float noundef) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZNSt6vectorIN7MVision6CircleESaIS1_EE2atEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(8) ptr @_ZN7MVision6Circle19mutable_translationEv(ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN7MVision8Vector2D9mutable_xEv(ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN7MVision8Vector2D9mutable_yEv(ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN7MVision6Circle15mutable_radiousEv(ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZN7MVision6CircleaSERKS0_(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIN7MVision6CircleESaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZN9__gnu_cxx17__normal_iteratorIPKN7MVision6CircleESt6vectorIS2_SaIS2_EEEppEi(ptr noundef nonnull align 8 dereferenceable(8), i32 noundef) local_unnamed_addr #0 align 2

declare void @_ZN7MVision4BallC1ERKNS_6CircleEf(ptr noundef nonnull align 4 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(12), float noundef) unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIN7MVision4BallESaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(16)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIN7MVision8Vector2DESaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZNK7MVision4Ball15PositionInImageEv(ptr noundef nonnull align 4 dereferenceable(16)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIN7MVision6CircleESaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #0 align 2

attributes #0 = { 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 #1 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress 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 #6 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !8, i64 96}
!6 = !{!"_ZTSN7MVision12BallDetectorE", !7, i64 0, !11, i64 16, !13, i64 40, !17, i64 64, !21, i64 88, !8, i64 96, !8, i64 104, !8, i64 112, !8, i64 120, !8, i64 128}
!7 = !{!"_ZTS9Debugable", !8, i64 8}
!8 = !{!"any pointer", !9, i64 0}
!9 = !{!"omnipotent char", !10, i64 0}
!10 = !{!"Simple C++ TBAA"}
!11 = !{!"_ZTSN7MVision5ImageE", !12, i64 0, !12, i64 4, !12, i64 8, !8, i64 16}
!12 = !{!"int", !9, i64 0}
!13 = !{!"_ZTSSt6vectorIN7MVision4BallESaIS1_EE", !14, i64 0}
!14 = !{!"_ZTSSt12_Vector_baseIN7MVision4BallESaIS1_EE", !15, i64 0}
!15 = !{!"_ZTSNSt12_Vector_baseIN7MVision4BallESaIS1_EE12_Vector_implE", !16, i64 0}
!16 = !{!"_ZTSNSt12_Vector_baseIN7MVision4BallESaIS1_EE17_Vector_impl_dataE", !8, i64 0, !8, i64 8, !8, i64 16}
!17 = !{!"_ZTSSt6vectorIN7MVision8Vector2DESaIS1_EE", !18, i64 0}
!18 = !{!"_ZTSSt12_Vector_baseIN7MVision8Vector2DESaIS1_EE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseIN7MVision8Vector2DESaIS1_EE12_Vector_implE", !20, i64 0}
!20 = !{!"_ZTSNSt12_Vector_baseIN7MVision8Vector2DESaIS1_EE17_Vector_impl_dataE", !8, i64 0, !8, i64 8, !8, i64 16}
!21 = !{!"double", !9, i64 0}
!22 = !{!6, !8, i64 104}
!23 = !{!6, !8, i64 112}
!24 = distinct !{!24, !25}
!25 = !{!"llvm.loop.mustprogress"}
!26 = !{i64 0, i64 4, !27, i64 4, i64 4, !27, i64 8, i64 4, !27}
!27 = !{!28, !28, i64 0}
!28 = !{!"float", !9, i64 0}
!29 = distinct !{!29, !25}
!30 = distinct !{!30, !25}


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