user: What is the c source code of the assembly code below?

```asm
<Hdetect>:
  endbr64
  push   %r15
  push   %r14
  push   %r13
  push   %r12
  mov    %rsi,%r12
  mov    %rdi,%rsi
  push   %rbp
  mov    %rdi,%rbp
  push   %rbx
  mov    %rcx,%rbx
  mov    $0x3,%ecx
  sub    $0x4d8,%rsp
  mov    %rdx,0x8(%rsp)
  mov    $0x3,%edx
  lea    0x30(%rsp),%r14
  lea    0x340(%rsp),%r15
  mov    %r15,%rdi
  lea    0x390(%rsp),%r13
  mov    %fs:0x28,%rax
  mov    %rax,0x4c8(%rsp)
  xor    %eax,%eax
  call   <mattr@plt>
  mov    %rbp,%rsi
  mov    %r13,%rdi
  mov    $0x48,%edx
  call   <memcpy@plt>
  lea    0xc0(%rsp),%r8
  lea    0x70(%rsp),%rdx
  mov    %r13,%rsi
  mov    $0x3,%r9d
  mov    $0x3,%ecx
  lea    0x10(%rsp),%rdi
  call   <svduv@plt>
  lea    0x110(%rsp),%r13
  movapd 0xe0(%rsp),%xmm5
  movsd  0x100(%rsp),%xmm0
  mov    %r13,%rsi
  mov    %r14,%rdi
  lea    0x200(%rsp),%rbp
  movlpd 0xd0(%rsp),%xmm5
  movsd  %xmm0,0x40(%rsp)
  movaps %xmm5,0x30(%rsp)
  call   <skew_sym@plt>
  mov    %r15,%rdx
  mov    %r13,%rsi
  mov    $0x3,%ecx
  lea    0x160(%rsp),%r9
  lea    0x1b0(%rsp),%r15
  mov    %r9,%rdi
  mov    %r9,(%rsp)
  call   <mmul@plt>
  mov    0x8(%rsp),%rsi
  mov    %r12,%rdi
  mov    %rbp,%rcx
  mov    %r15,%rdx
  lea    0x2a0(%rsp),%r12
  call   <fillu3@plt>
  lea    0x2f0(%rsp),%r8
  mov    (%rsp),%rsi
  mov    %rbp,%rdx
  mov    %r8,%rdi
  mov    $0x3,%ecx
  mov    %r8,0x8(%rsp)
  call   <mmul@plt>
  lea    0x250(%rsp),%r9
  mov    $0x3,%ecx
  mov    %r15,%rsi
  mov    %r9,%rdi
  mov    $0x3,%edx
  mov    %r9,(%rsp)
  call   <mattr@plt>
  mov    0x8(%rsp),%rsi
  mov    $0x3,%ecx
  mov    %r12,%rdi
  mov    $0x3,%edx
  call   <mattr@plt>
  lea    0x430(%rsp),%r8
  mov    (%rsp),%rsi
  mov    %r12,%rdx
  mov    %r8,%rdi
  mov    %r8,(%rsp)
  call   <crossp@plt>
  lea    0x2b8(%rsp),%rdx
  lea    0x268(%rsp),%rsi
  lea    0x448(%rsp),%rdi
  call   <crossp@plt>
  lea    0x2d0(%rsp),%rdx
  lea    0x280(%rsp),%rsi
  lea    0x460(%rsp),%rdi
  call   <crossp@plt>
  mov    (%rsp),%rsi
  mov    $0x3,%ecx
  lea    0x3e0(%rsp),%rdi
  mov    $0x3,%edx
  call   <mattr@plt>
  mov    %r13,%rsi
  mov    $0x3,%ecx
  mov    %r15,%rdx
  movapd D25(%rip),%xmm0
  lea    0x480(%rsp),%rdi
  movapd 0x110(%rsp),%xmm1
  xorpd  %xmm0,%xmm1
  movaps %xmm1,0x110(%rsp)
  movapd 0x120(%rsp),%xmm1
  xorpd  %xmm0,%xmm1
  movaps %xmm1,0x120(%rsp)
  movapd 0x130(%rsp),%xmm1
  xorpd  %xmm0,%xmm1
  xorpd  0x140(%rsp),%xmm0
  movaps %xmm1,0x130(%rsp)
  movaps %xmm0,0x140(%rsp)
  movsd  0x150(%rsp),%xmm0
  xorpd  D37(%rip),%xmm0
  movsd  %xmm0,0x150(%rsp)
  call   <mmul@plt>
  mov    $0x3,%ecx
  mov    %rbp,%rsi
  mov    %r12,%rdi
  movapd 0x480(%rsp),%xmm3
  mov    $0x3,%edx
  movupd 0x498(%rsp),%xmm1
  movupd 0x3f8(%rsp),%xmm0
  movapd 0x3e0(%rsp),%xmm4
  movapd 0x4b0(%rsp),%xmm2
  mulpd  %xmm3,%xmm4
  mulpd  %xmm1,%xmm0
  mulpd  %xmm3,%xmm3
  mulpd  %xmm1,%xmm1
  addpd  %xmm4,%xmm0
  movapd 0x410(%rsp),%xmm4
  mulpd  %xmm2,%xmm4
  addpd  %xmm3,%xmm1
  movsd  0x4a8(%rsp),%xmm3
  mulpd  %xmm2,%xmm2
  addpd  %xmm4,%xmm0
  movsd  0x408(%rsp),%xmm4
  addpd  %xmm2,%xmm1
  movsd  0x4c0(%rsp),%xmm2
  mulsd  %xmm3,%xmm4
  mulsd  %xmm3,%xmm3
  divpd  %xmm1,%xmm0
  movsd  0x3f0(%rsp),%xmm1
  movaps %xmm0,0x50(%rsp)
  movsd  0x490(%rsp),%xmm0
  mulsd  %xmm0,%xmm1
  mulsd  %xmm0,%xmm0
  addsd  %xmm4,%xmm1
  movsd  0x420(%rsp),%xmm4
  addsd  %xmm3,%xmm0
  mulsd  %xmm2,%xmm4
  mulsd  %xmm2,%xmm2
  addsd  %xmm4,%xmm1
  addsd  %xmm2,%xmm0
  divsd  %xmm0,%xmm1
  movsd  %xmm1,0x60(%rsp)
  call   <mattr@plt>
  mov    $0x3,%esi
  mov    %r12,%rdi
  call   <minv@plt>
  lea    0x50(%rsp),%rdx
  mov    %r12,%rsi
  mov    %rbp,%rdi
  mov    $0x1,%r9d
  mov    $0x3,%r8d
  mov    $0x3,%ecx
  mov    %eax,%r13d
  call   <rmmult@plt>
  mov    $0x1,%ecx
  mov    %rbp,%rsi
  mov    %r12,%rdi
  mov    $0x3,%edx
  call   <mattr@plt>
  mov    $0x3,%ecx
  mov    %r12,%rdx
  mov    %r14,%rsi
  mov    $0x3,%r9d
  mov    $0x1,%r8d
  mov    %rbp,%rdi
  call   <rmmult@plt>
  movapd 0x160(%rsp),%xmm2
  movapd 0x200(%rsp),%xmm3
  movapd %xmm2,%xmm0
  movapd %xmm3,%xmm1
  movhps 0x178(%rsp),%xmm0
  movapd %xmm3,%xmm4
  movhps 0x218(%rsp),%xmm1
  shufpd $0x1,%xmm3,%xmm4
  movhpd 0x220(%rsp),%xmm4
  subpd  %xmm1,%xmm0
  movapd %xmm2,%xmm1
  shufpd $0x1,%xmm2,%xmm1
  movhpd 0x180(%rsp),%xmm1
  subpd  %xmm4,%xmm1
  movups %xmm0,(%rbx)
  movups %xmm1,0x18(%rbx)
  movapd 0x170(%rsp),%xmm1
  unpcklpd %xmm2,%xmm1
  movhps 0x188(%rsp),%xmm1
  movapd 0x210(%rsp),%xmm2
  unpcklpd %xmm3,%xmm2
  movhps 0x228(%rsp),%xmm2
  subpd  %xmm2,%xmm1
  movups %xmm1,0x30(%rbx)
  movsd  0x190(%rsp),%xmm1
  subsd  0x230(%rsp),%xmm1
  movsd  %xmm1,0x10(%rbx)
  movsd  0x198(%rsp),%xmm1
  subsd  0x238(%rsp),%xmm1
  movsd  %xmm1,0x28(%rbx)
  movsd  0x1a0(%rsp),%xmm1
  subsd  0x240(%rsp),%xmm1
  movsd  %xmm1,0x40(%rbx)
  call   <isnan@plt>
  test   %rax,%rax
  je     L10
L3:
  mov    D9(%rip),%rax
  movq   D9(%rip),%xmm1
  pxor   %xmm0,%xmm0
  movups %xmm0,0x10(%rbx)
  mov    %rax,0x40(%rbx)
  movups %xmm1,(%rbx)
  movups %xmm1,0x20(%rbx)
  movups %xmm0,0x30(%rbx)
L2:
  mov    0x4c8(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L15
  add    $0x4d8,%rsp
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  pop    %r14
  pop    %r15
  ret
  nopl   (%rax)
L10:
  movsd  (%rbx),%xmm0
  call   <isinf@plt>
  test   %rax,%rax
  jne    L3
  test   %r13b,%r13b
  jne    L3
  jmp    L2
L15:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: parse_data
arguments: label: D25
data_type: byte[16]
name: parse_data
arguments: label: D37
data_type: byte[16]
name: parse_data
arguments: label: D9
data_type: byte[8]

tool: {"D25": [0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80]}

tool: {"D37": [0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00]}

tool: {"D9": [0x00,0x00,0x00,0x00,0x00,0x00,0xf0,0x3f]}

assistant: ```c
void Hdetect(double *F, double *u7, unsigned char *IDXS, double *H) {
  double D[3], U[3 * 3], V[3 * 3], ec[3], Ex[3 * 3], A[3 * 3], u3a[3 * 3], u3b[3 * 3], u3aT[3 * 3], u3bT[3 * 3], Au3b[3 * 3], Ft[3 * 3], F1[3 * 3], p1[3 * 3], p1T[3 * 3], p2[3 * 3], b[3];
  unsigned char i, j, sing;
  mattr(Ft, F, 3, 3);
  memcpy(F1, F, 3 * 3 * sizeof(double));
  svduv(D, F1, U, 3, V, 3);
  ec[0] = V[2];
  ec[1] = V[5];
  ec[2] = V[8];
  skew_sym(ec, Ex);
  mmul(A, Ex, Ft, 3);
  fillu3(u7, IDXS, u3a, u3b);
  mmul(Au3b, A, u3b, 3);
  mattr(u3aT, u3a, 3, 3);
  mattr(u3bT, Au3b, 3, 3);
  crossp(p1T, u3aT, u3bT);
  crossp(p1T + 3, u3aT + 3, u3bT + 3);
  crossp(p1T + 6, u3aT + 6, u3bT + 6);
  mattr(p1, p1T, 3, 3);
  for (i = 0; i < 9; ++i) {
    Ex[i] *= -1;
  }
  mmul(p2, Ex, u3a, 3);
  b[0] = (p1[0] * p2[0] + p1[3] * p2[3] + p1[6] * p2[6]) / (p2[0] * p2[0] + p2[3] * p2[3] + p2[6] * p2[6]);
  b[1] = (p1[1] * p2[1] + p1[4] * p2[4] + p1[7] * p2[7]) / (p2[1] * p2[1] + p2[4] * p2[4] + p2[7] * p2[7]);
  b[2] = (p1[2] * p2[2] + p1[5] * p2[5] + p1[8] * p2[8]) / (p2[2] * p2[2] + p2[5] * p2[5] + p2[8] * p2[8]);
  mattr(u3bT, u3b, 3, 3);
  sing = minv(u3bT, 3);
  rmmult(u3b, u3bT, b, 3, 3, 1);
  mattr(u3bT, u3b, 3, 1);
  rmmult(u3b, ec, u3bT, 3, 1, 3);
  for (i = 0; i < 3; ++i) {
    for (j = 0; j < 3; ++j) {
      H[i + j * 3] = A[i * 3 + j] - u3b[i * 3 + j];
    }
  }
  if (isnan(*H) || isinf(*H) || sing) {
    H[1] = H[2] = H[3] = H[5] = H[6] = H[7] = 0;
    H[0] = H[4] = H[8] = 1;
  }
}
```