user: 请从给定的汇编指令推导出C源代码：

```asm
<moistiv_epipolar>:
  endbr64
  push   %rbp
  mov    %rsp,%rbp
  sub    $0x90,%rsp
  mov    %rdi,-0x68(%rbp)
  mov    %rsi,-0x70(%rbp)
  mov    %rdx,-0x78(%rbp)
  mov    %rcx,-0x80(%rbp)
  mov    %r8,-0x88(%rbp)
  mov    %r9,-0x90(%rbp)
  mov    %fs:0x28,%rax
  mov    %rax,-0x8(%rbp)
  xor    %eax,%eax
  mov    $0x9,%ecx
  mov    $0x1,%edx
  mov    $0x9,%esi
  mov    $0x1,%edi
  mov    $0x0,%eax
  call   <matrix@plt>
  cltq
  mov    %rax,-0x38(%rbp)
  mov    $0x9,%esi
  mov    $0x1,%edi
  mov    $0x0,%eax
  call   <vector@plt>
  cltq
  mov    %rax,-0x30(%rbp)
  mov    $0x9,%ecx
  mov    $0x1,%edx
  mov    $0x9,%esi
  mov    $0x1,%edi
  mov    $0x0,%eax
  call   <matrix@plt>
  cltq
  mov    %rax,-0x28(%rbp)
  movl   $0x0,-0x58(%rbp)
  jmp    L145
L55:
  mov    -0x58(%rbp),%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x78(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%eax
  add    %eax,%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x68(%rbp),%rax
  add    %rdx,%rax
  movss  (%rax),%xmm1
  mov    -0x58(%rbp),%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x78(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%eax
  add    %eax,%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x70(%rbp),%rax
  add    %rdx,%rax
  movss  (%rax),%xmm0
  mov    -0x58(%rbp),%eax
  cltq
  add    $0x1,%rax
  lea    0x0(,%rax,8),%rdx
  mov    -0x38(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%rax
  add    $0x4,%rax
  mulss  %xmm1,%xmm0
  movss  %xmm0,(%rax)
  mov    -0x58(%rbp),%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x78(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%eax
  add    %eax,%eax
  cltq
  add    $0x1,%rax
  lea    0x0(,%rax,4),%rdx
  mov    -0x68(%rbp),%rax
  add    %rdx,%rax
  movss  (%rax),%xmm1
  mov    -0x58(%rbp),%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x78(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%eax
  add    %eax,%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x70(%rbp),%rax
  add    %rdx,%rax
  movss  (%rax),%xmm0
  mov    -0x58(%rbp),%eax
  cltq
  add    $0x1,%rax
  lea    0x0(,%rax,8),%rdx
  mov    -0x38(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%rax
  add    $0x8,%rax
  mulss  %xmm1,%xmm0
  movss  %xmm0,(%rax)
  mov    -0x58(%rbp),%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x78(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%eax
  add    %eax,%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x70(%rbp),%rax
  add    %rax,%rdx
  mov    -0x58(%rbp),%eax
  cltq
  add    $0x1,%rax
  lea    0x0(,%rax,8),%rcx
  mov    -0x38(%rbp),%rax
  add    %rcx,%rax
  mov    (%rax),%rax
  add    $0xc,%rax
  movss  (%rdx),%xmm0
  movss  %xmm0,(%rax)
  mov    -0x58(%rbp),%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x78(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%eax
  add    %eax,%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x68(%rbp),%rax
  add    %rdx,%rax
  movss  (%rax),%xmm1
  mov    -0x58(%rbp),%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x78(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%eax
  add    %eax,%eax
  cltq
  add    $0x1,%rax
  lea    0x0(,%rax,4),%rdx
  mov    -0x70(%rbp),%rax
  add    %rdx,%rax
  movss  (%rax),%xmm0
  mov    -0x58(%rbp),%eax
  cltq
  add    $0x1,%rax
  lea    0x0(,%rax,8),%rdx
  mov    -0x38(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%rax
  add    $0x10,%rax
  mulss  %xmm1,%xmm0
  movss  %xmm0,(%rax)
  mov    -0x58(%rbp),%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x78(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%eax
  add    %eax,%eax
  cltq
  add    $0x1,%rax
  lea    0x0(,%rax,4),%rdx
  mov    -0x68(%rbp),%rax
  add    %rdx,%rax
  movss  (%rax),%xmm1
  mov    -0x58(%rbp),%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x78(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%eax
  add    %eax,%eax
  cltq
  add    $0x1,%rax
  lea    0x0(,%rax,4),%rdx
  mov    -0x70(%rbp),%rax
  add    %rdx,%rax
  movss  (%rax),%xmm0
  mov    -0x58(%rbp),%eax
  cltq
  add    $0x1,%rax
  lea    0x0(,%rax,8),%rdx
  mov    -0x38(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%rax
  add    $0x14,%rax
  mulss  %xmm1,%xmm0
  movss  %xmm0,(%rax)
  mov    -0x58(%rbp),%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x78(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%eax
  add    %eax,%eax
  cltq
  add    $0x1,%rax
  lea    0x0(,%rax,4),%rdx
  mov    -0x70(%rbp),%rax
  add    %rax,%rdx
  mov    -0x58(%rbp),%eax
  cltq
  add    $0x1,%rax
  lea    0x0(,%rax,8),%rcx
  mov    -0x38(%rbp),%rax
  add    %rcx,%rax
  mov    (%rax),%rax
  add    $0x18,%rax
  movss  (%rdx),%xmm0
  movss  %xmm0,(%rax)
  mov    -0x58(%rbp),%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x78(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%eax
  add    %eax,%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x68(%rbp),%rax
  add    %rax,%rdx
  mov    -0x58(%rbp),%eax
  cltq
  add    $0x1,%rax
  lea    0x0(,%rax,8),%rcx
  mov    -0x38(%rbp),%rax
  add    %rcx,%rax
  mov    (%rax),%rax
  add    $0x1c,%rax
  movss  (%rdx),%xmm0
  movss  %xmm0,(%rax)
  mov    -0x58(%rbp),%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x78(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%eax
  add    %eax,%eax
  cltq
  add    $0x1,%rax
  lea    0x0(,%rax,4),%rdx
  mov    -0x68(%rbp),%rax
  add    %rax,%rdx
  mov    -0x58(%rbp),%eax
  cltq
  add    $0x1,%rax
  lea    0x0(,%rax,8),%rcx
  mov    -0x38(%rbp),%rax
  add    %rcx,%rax
  mov    (%rax),%rax
  add    $0x20,%rax
  movss  (%rdx),%xmm0
  movss  %xmm0,(%rax)
  mov    -0x58(%rbp),%eax
  cltq
  add    $0x1,%rax
  lea    0x0(,%rax,8),%rdx
  mov    -0x38(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%rax
  add    $0x24,%rax
  movss  D6(%rip),%xmm0
  movss  %xmm0,(%rax)
  addl   $0x1,-0x58(%rbp)
L145:
  cmpl   $0x6,-0x58(%rbp)
  jle    L55
  movl   $0x1,-0x58(%rbp)
  jmp    L79
L189:
  mov    -0x38(%rbp),%rax
  add    $0x48,%rax
  mov    (%rax),%rdx
  mov    -0x58(%rbp),%eax
  cltq
  shl    $0x2,%rax
  add    %rdx,%rax
  pxor   %xmm0,%xmm0
  movss  %xmm0,(%rax)
  mov    -0x38(%rbp),%rdx
  add    $0x40,%rdx
  mov    (%rdx),%rcx
  mov    -0x58(%rbp),%edx
  movslq %edx,%rdx
  shl    $0x2,%rdx
  add    %rcx,%rdx
  movss  (%rax),%xmm0
  movss  %xmm0,(%rdx)
  addl   $0x1,-0x58(%rbp)
L79:
  cmpl   $0x9,-0x58(%rbp)
  jle    L189
  mov    -0x28(%rbp),%rcx
  mov    -0x30(%rbp),%rdx
  mov    -0x38(%rbp),%rax
  mov    %rcx,%r8
  mov    %rdx,%rcx
  mov    $0x9,%edx
  mov    $0x9,%esi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <svdcmp@plt>
  mov    -0x30(%rbp),%rax
  add    $0x4,%rax
  movss  (%rax),%xmm1
  mov    -0x30(%rbp),%rax
  add    $0x8,%rax
  movss  (%rax),%xmm0
  comiss %xmm1,%xmm0
  jbe    L24
  movl   $0x1,-0x50(%rbp)
  movl   $0x2,-0x4c(%rbp)
  jmp    L130
L24:
  movl   $0x1,-0x4c(%rbp)
  movl   $0x2,-0x50(%rbp)
L130:
  mov    -0x50(%rbp),%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x30(%rbp),%rax
  add    %rdx,%rax
  movss  (%rax),%xmm0
  movss  %xmm0,-0x48(%rbp)
  mov    -0x4c(%rbp),%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x30(%rbp),%rax
  add    %rdx,%rax
  movss  (%rax),%xmm0
  movss  %xmm0,-0x44(%rbp)
  movl   $0x3,-0x58(%rbp)
  jmp    L77
L112:
  mov    -0x58(%rbp),%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x30(%rbp),%rax
  add    %rdx,%rax
  movss  (%rax),%xmm1
  movss  -0x48(%rbp),%xmm0
  comiss %xmm1,%xmm0
  jbe    L143
  mov    -0x50(%rbp),%eax
  mov    %eax,-0x4c(%rbp)
  movss  -0x48(%rbp),%xmm0
  movss  %xmm0,-0x44(%rbp)
  mov    -0x58(%rbp),%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x30(%rbp),%rax
  add    %rdx,%rax
  movss  (%rax),%xmm0
  movss  %xmm0,-0x48(%rbp)
  mov    -0x58(%rbp),%eax
  mov    %eax,-0x50(%rbp)
  jmp    L110
L143:
  mov    -0x58(%rbp),%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x30(%rbp),%rax
  add    %rdx,%rax
  movss  (%rax),%xmm1
  movss  -0x44(%rbp),%xmm0
  comiss %xmm1,%xmm0
  jbe    L110
  mov    -0x58(%rbp),%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x30(%rbp),%rax
  add    %rdx,%rax
  movss  (%rax),%xmm0
  movss  %xmm0,-0x44(%rbp)
  mov    -0x58(%rbp),%eax
  mov    %eax,-0x4c(%rbp)
L110:
  addl   $0x1,-0x58(%rbp)
L77:
  cmpl   $0x9,-0x58(%rbp)
  jle    L112
  movl   $0x1,-0x58(%rbp)
  jmp    L172
L195:
  movl   $0x1,-0x54(%rbp)
  jmp    L131
L18:
  mov    -0x58(%rbp),%eax
  lea    -0x1(%rax),%edx
  mov    %edx,%eax
  add    %eax,%eax
  add    %eax,%edx
  mov    -0x54(%rbp),%eax
  add    %edx,%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x28(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%rdx
  mov    -0x50(%rbp),%eax
  cltq
  shl    $0x2,%rax
  add    %rdx,%rax
  mov    -0x58(%rbp),%edx
  movslq %edx,%rdx
  mov    %rdx,%rcx
  shl    $0x4,%rcx
  mov    -0x88(%rbp),%rdx
  add    %rcx,%rdx
  movss  (%rax),%xmm0
  mov    -0x54(%rbp),%eax
  cltq
  movss  %xmm0,(%rdx,%rax,4)
  mov    -0x58(%rbp),%eax
  lea    -0x1(%rax),%edx
  mov    %edx,%eax
  add    %eax,%eax
  add    %eax,%edx
  mov    -0x54(%rbp),%eax
  add    %edx,%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x28(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%rdx
  mov    -0x4c(%rbp),%eax
  cltq
  shl    $0x2,%rax
  add    %rdx,%rax
  movss  (%rax),%xmm0
  mov    -0x58(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rax,%rdx
  mov    -0x54(%rbp),%eax
  cltq
  movss  (%rdx,%rax,4),%xmm1
  mov    -0x58(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rax,%rdx
  subss  %xmm1,%xmm0
  mov    -0x54(%rbp),%eax
  cltq
  movss  %xmm0,(%rdx,%rax,4)
  addl   $0x1,-0x54(%rbp)
L131:
  cmpl   $0x3,-0x54(%rbp)
  jle    L18
  addl   $0x1,-0x58(%rbp)
L172:
  cmpl   $0x3,-0x58(%rbp)
  jle    L195
  pxor   %xmm0,%xmm0
  movss  %xmm0,-0x14(%rbp)
  movss  -0x14(%rbp),%xmm0
  movss  %xmm0,-0x18(%rbp)
  movss  -0x18(%rbp),%xmm0
  movss  %xmm0,-0x1c(%rbp)
  movss  -0x1c(%rbp),%xmm0
  movss  %xmm0,-0x20(%rbp)
  movl   $0x1,-0x58(%rbp)
  jmp    L198
L12:
  mov    -0x58(%rbp),%edx
  movslq %edx,%rax
  imul   $0x55555556,%rax,%rax
  shr    $0x20,%rax
  mov    %edx,%ecx
  sar    $0x1f,%ecx
  sub    %ecx,%eax
  mov    %eax,%ecx
  add    %ecx,%ecx
  add    %eax,%ecx
  mov    %edx,%eax
  sub    %ecx,%eax
  add    $0x1,%eax
  mov    %eax,-0x40(%rbp)
  mov    -0x40(%rbp),%edx
  movslq %edx,%rax
  imul   $0x55555556,%rax,%rax
  shr    $0x20,%rax
  mov    %edx,%ecx
  sar    $0x1f,%ecx
  sub    %ecx,%eax
  mov    %eax,%ecx
  add    %ecx,%ecx
  add    %eax,%ecx
  mov    %edx,%eax
  sub    %ecx,%eax
  add    $0x1,%eax
  mov    %eax,-0x3c(%rbp)
  movss  -0x20(%rbp),%xmm1
  mov    -0x58(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0x4(%rax),%xmm2
  mov    -0x40(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0x8(%rax),%xmm0
  mulss  %xmm0,%xmm2
  mov    -0x3c(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0xc(%rax),%xmm0
  mulss  %xmm2,%xmm0
  addss  %xmm1,%xmm0
  movss  %xmm0,-0x20(%rbp)
  movss  -0x1c(%rbp),%xmm1
  mov    -0x58(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0x4(%rax),%xmm2
  mov    -0x40(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0x8(%rax),%xmm0
  mulss  %xmm0,%xmm2
  mov    -0x3c(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0xc(%rax),%xmm0
  mulss  %xmm0,%xmm2
  mov    -0x58(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0x4(%rax),%xmm3
  mov    -0x40(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0x8(%rax),%xmm0
  mulss  %xmm0,%xmm3
  mov    -0x3c(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0xc(%rax),%xmm0
  mulss  %xmm3,%xmm0
  addss  %xmm0,%xmm2
  mov    -0x58(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0x4(%rax),%xmm3
  mov    -0x40(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0x8(%rax),%xmm0
  mulss  %xmm0,%xmm3
  mov    -0x3c(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0xc(%rax),%xmm0
  mulss  %xmm3,%xmm0
  addss  %xmm2,%xmm0
  addss  %xmm1,%xmm0
  movss  %xmm0,-0x1c(%rbp)
  movss  -0x18(%rbp),%xmm1
  mov    -0x58(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0x4(%rax),%xmm2
  mov    -0x40(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0x8(%rax),%xmm0
  mulss  %xmm0,%xmm2
  mov    -0x3c(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0xc(%rax),%xmm0
  mulss  %xmm0,%xmm2
  mov    -0x58(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0x4(%rax),%xmm3
  mov    -0x40(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0x8(%rax),%xmm0
  mulss  %xmm0,%xmm3
  mov    -0x3c(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0xc(%rax),%xmm0
  mulss  %xmm3,%xmm0
  addss  %xmm0,%xmm2
  mov    -0x58(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0x4(%rax),%xmm3
  mov    -0x40(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0x8(%rax),%xmm0
  mulss  %xmm0,%xmm3
  mov    -0x3c(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0xc(%rax),%xmm0
  mulss  %xmm3,%xmm0
  addss  %xmm2,%xmm0
  addss  %xmm1,%xmm0
  movss  %xmm0,-0x18(%rbp)
  movss  -0x14(%rbp),%xmm1
  mov    -0x58(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0x4(%rax),%xmm2
  mov    -0x40(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0x8(%rax),%xmm0
  mulss  %xmm0,%xmm2
  mov    -0x3c(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0xc(%rax),%xmm0
  mulss  %xmm2,%xmm0
  addss  %xmm1,%xmm0
  movss  %xmm0,-0x14(%rbp)
  addl   $0x1,-0x58(%rbp)
L198:
  cmpl   $0x3,-0x58(%rbp)
  jle    L12
  movl   $0x1,-0x58(%rbp)
  jmp    L156
L60:
  mov    -0x58(%rbp),%eax
  lea    0x1(%rax),%edx
  movslq %edx,%rax
  imul   $0x55555556,%rax,%rax
  shr    $0x20,%rax
  mov    %edx,%ecx
  sar    $0x1f,%ecx
  sub    %ecx,%eax
  mov    %eax,%ecx
  add    %ecx,%ecx
  add    %eax,%ecx
  mov    %edx,%eax
  sub    %ecx,%eax
  add    $0x1,%eax
  mov    %eax,-0x40(%rbp)
  mov    -0x40(%rbp),%eax
  lea    0x1(%rax),%edx
  movslq %edx,%rax
  imul   $0x55555556,%rax,%rax
  shr    $0x20,%rax
  mov    %edx,%ecx
  sar    $0x1f,%ecx
  sub    %ecx,%eax
  mov    %eax,%ecx
  add    %ecx,%ecx
  add    %eax,%ecx
  mov    %edx,%eax
  sub    %ecx,%eax
  add    $0x1,%eax
  mov    %eax,-0x3c(%rbp)
  movss  -0x20(%rbp),%xmm0
  mov    -0x58(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0x4(%rax),%xmm2
  mov    -0x40(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0x8(%rax),%xmm1
  mulss  %xmm1,%xmm2
  mov    -0x3c(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0xc(%rax),%xmm1
  mulss  %xmm2,%xmm1
  subss  %xmm1,%xmm0
  movss  %xmm0,-0x20(%rbp)
  movss  -0x1c(%rbp),%xmm0
  mov    -0x58(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0x4(%rax),%xmm2
  mov    -0x40(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0x8(%rax),%xmm1
  mulss  %xmm1,%xmm2
  mov    -0x3c(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0xc(%rax),%xmm1
  mulss  %xmm1,%xmm2
  mov    -0x58(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0x4(%rax),%xmm3
  mov    -0x40(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0x8(%rax),%xmm1
  mulss  %xmm1,%xmm3
  mov    -0x3c(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0xc(%rax),%xmm1
  mulss  %xmm3,%xmm1
  addss  %xmm1,%xmm2
  mov    -0x58(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0x4(%rax),%xmm3
  mov    -0x40(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0x8(%rax),%xmm1
  mulss  %xmm1,%xmm3
  mov    -0x3c(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0xc(%rax),%xmm1
  mulss  %xmm3,%xmm1
  addss  %xmm2,%xmm1
  subss  %xmm1,%xmm0
  movss  %xmm0,-0x1c(%rbp)
  movss  -0x18(%rbp),%xmm0
  mov    -0x58(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0x4(%rax),%xmm2
  mov    -0x40(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0x8(%rax),%xmm1
  mulss  %xmm1,%xmm2
  mov    -0x3c(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0xc(%rax),%xmm1
  mulss  %xmm1,%xmm2
  mov    -0x58(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0x4(%rax),%xmm3
  mov    -0x40(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0x8(%rax),%xmm1
  mulss  %xmm1,%xmm3
  mov    -0x3c(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0xc(%rax),%xmm1
  mulss  %xmm3,%xmm1
  addss  %xmm1,%xmm2
  mov    -0x58(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0x4(%rax),%xmm3
  mov    -0x40(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0x8(%rax),%xmm1
  mulss  %xmm1,%xmm3
  mov    -0x3c(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x88(%rbp),%rax
  add    %rdx,%rax
  movss  0xc(%rax),%xmm1
  mulss  %xmm3,%xmm1
  addss  %xmm2,%xmm1
  subss  %xmm1,%xmm0
  movss  %xmm0,-0x18(%rbp)
  movss  -0x14(%rbp),%xmm0
  mov    -0x58(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0x4(%rax),%xmm2
  mov    -0x40(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0x8(%rax),%xmm1
  mulss  %xmm1,%xmm2
  mov    -0x3c(%rbp),%eax
  cltq
  shl    $0x4,%rax
  mov    %rax,%rdx
  mov    -0x90(%rbp),%rax
  add    %rdx,%rax
  movss  0xc(%rax),%xmm1
  mulss  %xmm2,%xmm1
  subss  %xmm1,%xmm0
  movss  %xmm0,-0x14(%rbp)
  addl   $0x1,-0x58(%rbp)
L156:
  cmpl   $0x3,-0x58(%rbp)
  jle    L60
  mov    -0x38(%rbp),%rax
  mov    $0x9,%r8d
  mov    $0x1,%ecx
  mov    $0x9,%edx
  mov    $0x1,%esi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <free_matrix@plt>
  mov    -0x28(%rbp),%rax
  mov    $0x9,%r8d
  mov    $0x1,%ecx
  mov    $0x9,%edx
  mov    $0x1,%esi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <free_matrix@plt>
  mov    -0x30(%rbp),%rax
  mov    $0x9,%edx
  mov    $0x1,%esi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <free_vector@plt>
  mov    -0x80(%rbp),%rdx
  lea    -0x20(%rbp),%rax
  mov    %rdx,%rsi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <FindCubicRoots@plt>
  mov    -0x8(%rbp),%rdx
  sub    %fs:0x28,%rdx
  je     L91
  call   <__stack_chk_fail@plt>
L91:
  leave
  ret
```

tool_calls: name: disassemble_data
arguments: data_tag: D6
type_guessed: f32

tool: D6: 1

assistant: ```c
int moistiv_epipolar(float *m1, float *m2, int *k, float *z, float F1[4][4], float F2[4][4]) {
  int i, j, i2, i3, imin1, imin2;
  float wmin1, wmin2;
  float **c = matrix(1, 9, 1, 9);
  float *w = vector(1, 9);
  float **v = matrix(1, 9, 1, 9);
  float a[4];
  for (i = 0; i < 7; i++) {
    c[i + 1][1] = m1[k[i] * 2] * m2[k[i] * 2];
    c[i + 1][2] = m1[k[i] * 2 + 1] * m2[k[i] * 2];
    c[i + 1][3] = m2[k[i] * 2];
    c[i + 1][4] = m1[k[i] * 2] * m2[k[i] * 2 + 1];
    c[i + 1][5] = m1[k[i] * 2 + 1] * m2[k[i] * 2 + 1];
    c[i + 1][6] = m2[k[i] * 2 + 1];
    c[i + 1][7] = m1[k[i] * 2];
    c[i + 1][8] = m1[k[i] * 2 + 1];
    c[i + 1][9] = 1.;
  }
  for (i = 1; i <= 9; i++)
    c[8][i] = c[9][i] = 0.;
  svdcmp(c, 9, 9, w, v);
  if (w[1] < w[2]) {
    imin1 = 1;
    imin2 = 2;
  } else {
    imin2 = 1;
    imin1 = 2;
  }
  wmin1 = w[imin1];
  wmin2 = w[imin2];
  for (i = 3; i <= 9; i++) {
    if (w[i] < wmin1) {
      imin2 = imin1;
      wmin2 = wmin1;
      wmin1 = w[i];
      imin1 = i;
    } else if (w[i] < wmin2) {
      wmin2 = w[i];
      imin2 = i;
    }
  }
  for (i = 1; i <= 3; i++)
    for (j = 1; j <= 3; j++) {
      F1[i][j] = v[(i - 1) * 3 + j][imin1];
      F2[i][j] = v[(i - 1) * 3 + j][imin2] - F1[i][j];
    }
  a[0] = a[1] = a[2] = a[3] = 0.;
  for (i = 1; i <= 3; i++) {
    i2 = i % 3 + 1;
    i3 = i2 % 3 + 1;
    a[0] += F1[i][1] * F1[i2][2] * F1[i3][3];
    a[1] += F2[i][1] * F1[i2][2] * F1[i3][3] + F1[i][1] * F2[i2][2] * F1[i3][3] + F1[i][1] * F1[i2][2] * F2[i3][3];
    a[2] += F1[i][1] * F2[i2][2] * F2[i3][3] + F2[i][1] * F1[i2][2] * F2[i3][3] + F2[i][1] * F2[i2][2] * F1[i3][3];
    a[3] += F2[i][1] * F2[i2][2] * F2[i3][3];
  }
  for (i = 1; i <= 3; i++) {
    i2 = (i + 1) % 3 + 1;
    i3 = (i2 + 1) % 3 + 1;
    a[0] -= F1[i][1] * F1[i2][2] * F1[i3][3];
    a[1] -= F2[i][1] * F1[i2][2] * F1[i3][3] + F1[i][1] * F2[i2][2] * F1[i3][3] + F1[i][1] * F1[i2][2] * F2[i3][3];
    a[2] -= F1[i][1] * F2[i2][2] * F2[i3][3] + F2[i][1] * F1[i2][2] * F2[i3][3] + F2[i][1] * F2[i2][2] * F1[i3][3];
    a[3] -= F2[i][1] * F2[i2][2] * F2[i3][3];
  }
  free_matrix(c, 1, 9, 1, 9);
  free_matrix(v, 1, 9, 1, 9);
  free_vector(w, 1, 9);
  return (FindCubicRoots(a, z));
}
```