user: Demonstrate the C code that generates the assembly output below:

```asm
<moistiv_epipolar>:
  endbr64
  push   %r15
  push   %r14
  push   %r13
  mov    %r9,%r13
  push   %r12
  mov    %rsi,%r12
  mov    $0x9,%esi
  push   %rbp
  mov    %rdi,%rbp
  mov    $0x1,%edi
  push   %rbx
  mov    %r8,%rbx
  sub    $0x88,%rsp
  mov    %rdx,0x8(%rsp)
  mov    $0x1,%edx
  mov    %rcx,0x58(%rsp)
  mov    $0x9,%ecx
  mov    %fs:0x28,%rax
  mov    %rax,0x78(%rsp)
  xor    %eax,%eax
  call   <matrix@plt>
  mov    $0x9,%esi
  mov    $0x1,%edi
  movslq %eax,%r11
  xor    %eax,%eax
  mov    %r11,(%rsp)
  call   <vector@plt>
  mov    $0x9,%ecx
  mov    $0x1,%edx
  mov    $0x9,%esi
  mov    $0x1,%edi
  movslq %eax,%r14
  xor    %eax,%eax
  call   <matrix@plt>
  mov    0x8(%rsp),%r10
  mov    (%rsp),%r11
  movslq %eax,%r15
  mov    (%r10),%eax
  lea    (%rax,%rax,1),%edx
  mov    0x8(%r11),%rax
  movslq %edx,%rdx
  lea    0x0(,%rdx,4),%rcx
  lea    0x4(,%rdx,4),%rdx
  lea    0x0(%rbp,%rcx,1),%rsi
  add    %r12,%rcx
  lea    0x0(%rbp,%rdx,1),%rdi
  add    %r12,%rdx
  movss  (%rsi),%xmm0
  mulss  (%rcx),%xmm0
  movss  %xmm0,0x4(%rax)
  movss  (%rdi),%xmm0
  mulss  (%rcx),%xmm0
  movss  %xmm0,0x8(%rax)
  movss  (%rcx),%xmm0
  movss  %xmm0,0xc(%rax)
  movss  (%rsi),%xmm0
  mulss  (%rdx),%xmm0
  movss  %xmm0,0x10(%rax)
  movss  (%rdi),%xmm0
  mulss  (%rdx),%xmm0
  movss  %xmm0,0x14(%rax)
  movss  (%rdx),%xmm0
  movss  %xmm0,0x18(%rax)
  movss  (%rsi),%xmm0
  movss  %xmm0,0x1c(%rax)
  movss  (%rdi),%xmm0
  movss  %xmm0,0x20(%rax)
  movss  D7(%rip),%xmm0
  movss  %xmm0,0x24(%rax)
  mov    0x4(%r10),%eax
  lea    (%rax,%rax,1),%edx
  mov    0x10(%r11),%rax
  movslq %edx,%rdx
  lea    0x0(,%rdx,4),%rcx
  lea    0x4(,%rdx,4),%rdx
  lea    0x0(%rbp,%rcx,1),%rsi
  add    %r12,%rcx
  lea    0x0(%rbp,%rdx,1),%rdi
  add    %r12,%rdx
  movss  (%rsi),%xmm1
  mulss  (%rcx),%xmm1
  movss  %xmm1,0x4(%rax)
  movss  (%rdi),%xmm1
  mulss  (%rcx),%xmm1
  movss  %xmm1,0x8(%rax)
  movss  (%rcx),%xmm1
  movss  %xmm1,0xc(%rax)
  movss  (%rsi),%xmm1
  mulss  (%rdx),%xmm1
  movss  %xmm1,0x10(%rax)
  movss  (%rdi),%xmm1
  mulss  (%rdx),%xmm1
  movss  %xmm1,0x14(%rax)
  movss  (%rdx),%xmm1
  movss  %xmm1,0x18(%rax)
  movss  (%rsi),%xmm1
  movss  %xmm1,0x1c(%rax)
  movss  (%rdi),%xmm1
  movss  %xmm0,0x24(%rax)
  movss  %xmm1,0x20(%rax)
  mov    0x8(%r10),%eax
  lea    (%rax,%rax,1),%edx
  mov    0x18(%r11),%rax
  movslq %edx,%rdx
  lea    0x0(,%rdx,4),%rcx
  lea    0x4(,%rdx,4),%rdx
  lea    0x0(%rbp,%rcx,1),%rsi
  add    %r12,%rcx
  lea    0x0(%rbp,%rdx,1),%rdi
  add    %r12,%rdx
  movss  (%rsi),%xmm1
  mulss  (%rcx),%xmm1
  movss  %xmm1,0x4(%rax)
  movss  (%rdi),%xmm1
  mulss  (%rcx),%xmm1
  movss  %xmm1,0x8(%rax)
  movss  (%rcx),%xmm1
  movss  %xmm1,0xc(%rax)
  movss  (%rsi),%xmm1
  mulss  (%rdx),%xmm1
  movss  %xmm1,0x10(%rax)
  movss  (%rdi),%xmm1
  mulss  (%rdx),%xmm1
  movss  %xmm1,0x14(%rax)
  movss  (%rdx),%xmm1
  movss  %xmm1,0x18(%rax)
  movss  (%rsi),%xmm1
  movss  %xmm1,0x1c(%rax)
  movss  (%rdi),%xmm1
  movss  %xmm0,0x24(%rax)
  movss  %xmm1,0x20(%rax)
  mov    0xc(%r10),%eax
  lea    (%rax,%rax,1),%edx
  mov    0x20(%r11),%rax
  movslq %edx,%rdx
  lea    0x0(,%rdx,4),%rcx
  lea    0x4(,%rdx,4),%rdx
  lea    0x0(%rbp,%rcx,1),%rsi
  add    %r12,%rcx
  lea    0x0(%rbp,%rdx,1),%rdi
  add    %r12,%rdx
  movss  (%rsi),%xmm1
  mulss  (%rcx),%xmm1
  movss  %xmm1,0x4(%rax)
  movss  (%rdi),%xmm1
  mulss  (%rcx),%xmm1
  movss  %xmm1,0x8(%rax)
  movss  (%rcx),%xmm1
  movss  %xmm1,0xc(%rax)
  movss  (%rsi),%xmm1
  mulss  (%rdx),%xmm1
  movss  %xmm1,0x10(%rax)
  movss  (%rdi),%xmm1
  mulss  (%rdx),%xmm1
  movss  %xmm1,0x14(%rax)
  movss  (%rdx),%xmm1
  movss  %xmm1,0x18(%rax)
  movss  (%rsi),%xmm1
  movss  %xmm1,0x1c(%rax)
  movss  (%rdi),%xmm1
  movss  %xmm0,0x24(%rax)
  movss  %xmm1,0x20(%rax)
  mov    0x10(%r10),%eax
  lea    (%rax,%rax,1),%edx
  mov    0x28(%r11),%rax
  movslq %edx,%rdx
  lea    0x0(,%rdx,4),%rcx
  lea    0x4(,%rdx,4),%rdx
  lea    0x0(%rbp,%rcx,1),%rsi
  add    %r12,%rcx
  lea    0x0(%rbp,%rdx,1),%rdi
  add    %r12,%rdx
  movss  (%rsi),%xmm1
  mulss  (%rcx),%xmm1
  movss  %xmm1,0x4(%rax)
  movss  (%rdi),%xmm1
  mulss  (%rcx),%xmm1
  movss  %xmm1,0x8(%rax)
  movss  (%rcx),%xmm1
  movss  %xmm1,0xc(%rax)
  movss  (%rsi),%xmm1
  mulss  (%rdx),%xmm1
  movss  %xmm1,0x10(%rax)
  movss  (%rdi),%xmm1
  mulss  (%rdx),%xmm1
  movss  %xmm1,0x14(%rax)
  movss  (%rdx),%xmm1
  movss  %xmm1,0x18(%rax)
  movss  (%rsi),%xmm1
  movss  %xmm1,0x1c(%rax)
  movss  (%rdi),%xmm1
  movss  %xmm0,0x24(%rax)
  movss  %xmm1,0x20(%rax)
  mov    0x14(%r10),%eax
  lea    (%rax,%rax,1),%edx
  mov    0x30(%r11),%rax
  movslq %edx,%rdx
  lea    0x0(,%rdx,4),%rcx
  lea    0x4(,%rdx,4),%rdx
  lea    0x0(%rbp,%rcx,1),%rsi
  add    %r12,%rcx
  lea    0x0(%rbp,%rdx,1),%rdi
  add    %r12,%rdx
  movss  (%rsi),%xmm1
  mulss  (%rcx),%xmm1
  movss  %xmm1,0x4(%rax)
  movss  (%rdi),%xmm1
  mulss  (%rcx),%xmm1
  movss  %xmm1,0x8(%rax)
  movss  (%rcx),%xmm1
  movss  %xmm1,0xc(%rax)
  movss  (%rsi),%xmm1
  mulss  (%rdx),%xmm1
  mov    0x18(%r10),%ecx
  add    %ecx,%ecx
  movslq %ecx,%rcx
  movss  %xmm1,0x10(%rax)
  movss  (%rdi),%xmm1
  mulss  (%rdx),%xmm1
  movss  %xmm1,0x14(%rax)
  movss  (%rdx),%xmm1
  lea    0x0(,%rcx,4),%rdx
  lea    0x4(,%rcx,4),%rcx
  movss  %xmm1,0x18(%rax)
  movss  (%rsi),%xmm1
  lea    0x0(%rbp,%rdx,1),%rsi
  add    %r12,%rdx
  add    %rcx,%rbp
  add    %rcx,%r12
  movss  %xmm1,0x1c(%rax)
  movss  (%rdi),%xmm1
  movss  %xmm0,0x24(%rax)
  movss  %xmm1,0x20(%rax)
  movss  (%rsi),%xmm1
  mulss  (%rdx),%xmm1
  mov    0x38(%r11),%rax
  movss  %xmm1,0x4(%rax)
  movss  0x0(%rbp),%xmm1
  mulss  (%rdx),%xmm1
  movss  %xmm1,0x8(%rax)
  movss  (%rdx),%xmm1
  movss  %xmm1,0xc(%rax)
  movss  (%rsi),%xmm1
  mulss  (%r12),%xmm1
  movss  %xmm1,0x10(%rax)
  movss  0x0(%rbp),%xmm1
  mulss  (%r12),%xmm1
  movss  %xmm1,0x14(%rax)
  movss  (%r12),%xmm1
  movss  %xmm1,0x18(%rax)
  movss  (%rsi),%xmm1
  movss  %xmm1,0x1c(%rax)
  movss  0x0(%rbp),%xmm1
  mov    0x48(%r11),%rdx
  movss  %xmm0,0x24(%rax)
  movss  %xmm1,0x20(%rax)
  mov    0x40(%r11),%rax
  lea    0x4(%rdx),%rcx
  lea    0x28(%rax),%rdi
  lea    0x4(%rax),%rsi
  cmp    %rdi,%rcx
  jae    L177
  lea    0x28(%rdx),%rdi
  cmp    %rdi,%rsi
  jb     L106
L177:
  pxor   %xmm0,%xmm0
  movups %xmm0,0x4(%rdx)
  movl   $0x0,0x20(%rcx)
  movups %xmm0,0x10(%rcx)
  movups %xmm0,0x4(%rax)
  movl   $0x0,0x20(%rsi)
  movups %xmm0,0x10(%rsi)
L112:
  mov    %r11,%rdi
  mov    %r14,%rcx
  mov    $0x9,%edx
  mov    $0x9,%esi
  xor    %eax,%eax
  mov    %r15,%r8
  mov    %r11,(%rsp)
  call   <svdcmp@plt>
  xor    %esi,%esi
  mov    $0x8,%eax
  mov    (%rsp),%r11
  movss  0x8(%r14),%xmm0
  comiss 0x4(%r14),%xmm0
  mov    $0x4,%edx
  mov    $0x2,%edi
  seta   %cl
  cmovbe %rax,%rdx
  seta   %sil
  mov    $0x1,%eax
  movzbl %cl,%ecx
  movss  0x4(%r14,%rsi,4),%xmm2
  add    $0x1,%ecx
  comiss 0x4(%r14),%xmm0
  movss  (%r14,%rdx,1),%xmm1
  mov    $0x3,%edx
  movss  0xc(%r14),%xmm0
  cmovbe %edi,%eax
  comiss %xmm0,%xmm1
  ja     L102
  comiss %xmm0,%xmm2
  jbe    L166
  movaps %xmm0,%xmm2
  mov    %eax,%edx
  movaps %xmm1,%xmm0
  mov    $0x3,%eax
  movaps %xmm2,%xmm1
L102:
  movss  0x10(%r14),%xmm2
  mov    $0x4,%ecx
  comiss %xmm2,%xmm0
  ja     L17
  comiss %xmm2,%xmm1
  jbe    L88
  movaps %xmm2,%xmm1
  mov    %edx,%ecx
  movaps %xmm0,%xmm2
  mov    $0x4,%edx
  movaps %xmm1,%xmm0
L17:
  movss  0x14(%r14),%xmm1
  mov    $0x5,%eax
  comiss %xmm1,%xmm2
  ja     L109
  comiss %xmm1,%xmm0
  jbe    L232
  movaps %xmm1,%xmm0
  mov    %ecx,%eax
  movaps %xmm2,%xmm1
  mov    $0x5,%ecx
  movaps %xmm0,%xmm2
L109:
  movss  0x18(%r14),%xmm0
  mov    $0x6,%edx
  comiss %xmm0,%xmm1
  ja     L227
  comiss %xmm0,%xmm2
  jbe    L10
  movaps %xmm0,%xmm2
  mov    %eax,%edx
  movaps %xmm1,%xmm0
  mov    $0x6,%eax
  movaps %xmm2,%xmm1
L227:
  movss  0x1c(%r14),%xmm2
  mov    $0x7,%ecx
  comiss %xmm2,%xmm0
  ja     L213
  comiss %xmm2,%xmm1
  jbe    L50
  movaps %xmm2,%xmm1
  mov    %edx,%ecx
  movaps %xmm0,%xmm2
  mov    $0x7,%edx
  movaps %xmm1,%xmm0
L213:
  movss  0x20(%r14),%xmm1
  mov    $0x8,%eax
  comiss %xmm1,%xmm2
  ja     L125
  comiss %xmm1,%xmm0
  jbe    L1
  movaps %xmm1,%xmm0
  movslq %ecx,%rax
  movaps %xmm2,%xmm1
  mov    $0x8,%ecx
  movaps %xmm0,%xmm2
L125:
  movss  0x24(%r14),%xmm0
  mov    $0x9,%edx
  comiss %xmm0,%xmm1
  ja     L199
  comiss %xmm0,%xmm2
  movslq %eax,%rdx
  mov    $0x9,%eax
  jbe    L137
L199:
  mov    0x8(%r15),%rcx
  mov    %r11,%rdi
  mov    $0x9,%r8d
  mov    $0x1,%esi
  movss  (%rcx,%rdx,4),%xmm1
  movss  %xmm1,0x14(%rbx)
  movss  (%rcx,%rax,4),%xmm0
  mov    0x10(%r15),%rcx
  subss  %xmm1,%xmm0
  movss  %xmm0,0x14(%r13)
  movss  (%rcx,%rdx,4),%xmm1
  movss  %xmm1,0x18(%rbx)
  movss  (%rcx,%rax,4),%xmm0
  mov    0x18(%r15),%rcx
  subss  %xmm1,%xmm0
  movss  %xmm0,0x18(%r13)
  movss  (%rcx,%rdx,4),%xmm1
  movss  %xmm1,0x1c(%rbx)
  movss  (%rcx,%rax,4),%xmm0
  mov    0x20(%r15),%rcx
  subss  %xmm1,%xmm0
  movss  %xmm0,0x1c(%r13)
  movss  (%rcx,%rdx,4),%xmm1
  movss  %xmm1,0x24(%rbx)
  movss  (%rcx,%rax,4),%xmm0
  mov    0x28(%r15),%rcx
  subss  %xmm1,%xmm0
  movss  %xmm0,0x24(%r13)
  movss  (%rcx,%rdx,4),%xmm1
  movss  %xmm1,0x28(%rbx)
  movss  (%rcx,%rax,4),%xmm0
  mov    0x30(%r15),%rcx
  subss  %xmm1,%xmm0
  movss  %xmm0,0x28(%r13)
  movss  (%rcx,%rdx,4),%xmm1
  movss  %xmm1,0x2c(%rbx)
  movss  (%rcx,%rax,4),%xmm0
  mov    0x38(%r15),%rcx
  subss  %xmm1,%xmm0
  movss  %xmm0,0x2c(%r13)
  movss  (%rcx,%rdx,4),%xmm1
  movss  %xmm1,0x34(%rbx)
  movss  (%rcx,%rax,4),%xmm0
  mov    0x40(%r15),%rcx
  subss  %xmm1,%xmm0
  movss  %xmm0,0x34(%r13)
  movss  (%rcx,%rdx,4),%xmm1
  movss  %xmm1,0x38(%rbx)
  movss  (%rcx,%rax,4),%xmm0
  mov    0x48(%r15),%rcx
  subss  %xmm1,%xmm0
  movss  %xmm0,0x38(%r13)
  movss  (%rcx,%rdx,4),%xmm1
  mov    $0x9,%edx
  movss  %xmm1,0x3c(%rbx)
  movss  0x28(%r13),%xmm5
  movss  (%rcx,%rax,4),%xmm0
  mov    $0x1,%ecx
  movss  0x14(%r13),%xmm12
  movss  0x24(%r13),%xmm8
  xor    %eax,%eax
  movaps %xmm5,%xmm10
  subss  %xmm1,%xmm0
  movss  0x38(%r13),%xmm13
  movaps %xmm5,%xmm1
  mulss  %xmm12,%xmm10
  movaps %xmm12,%xmm4
  movaps %xmm13,%xmm6
  movss  %xmm0,0x3c(%r13)
  movss  0x38(%rbx),%xmm15
  movss  0x28(%rbx),%xmm7
  movss  0x14(%rbx),%xmm14
  movss  0x1c(%rbx),%xmm9
  movss  %xmm0,(%rsp)
  mulss  %xmm7,%xmm4
  movaps %xmm15,%xmm11
  movaps %xmm7,%xmm3
  movss  0x3c(%rbx),%xmm2
  movss  %xmm10,0x34(%rsp)
  movss  0x24(%rbx),%xmm10
  mulss  %xmm14,%xmm3
  mulss  %xmm14,%xmm1
  movss  %xmm9,0x14(%rsp)
  mulss  %xmm10,%xmm11
  mulss  %xmm10,%xmm6
  movss  %xmm4,0x3c(%rsp)
  movaps %xmm13,%xmm4
  movss  %xmm3,0x4c(%rsp)
  movss  0x1c(%r13),%xmm3
  mulss  %xmm8,%xmm4
  movss  %xmm1,0x38(%rsp)
  movss  %xmm11,0x30(%rsp)
  movaps %xmm8,%xmm11
  mulss  %xmm15,%xmm11
  movss  %xmm6,0x28(%rsp)
  movss  %xmm11,0x2c(%rsp)
  movss  %xmm3,0x8(%rsp)
  movss  0x34(%rbx),%xmm1
  movss  0x18(%rbx),%xmm11
  movss  0x18(%r13),%xmm9
  movss  %xmm4,0x48(%rsp)
  movss  0x2c(%rbx),%xmm4
  movaps %xmm1,%xmm6
  movaps %xmm11,%xmm3
  mulss  %xmm11,%xmm6
  movss  %xmm6,0x18(%rsp)
  movss  0x34(%r13),%xmm6
  mulss  %xmm6,%xmm3
  movaps %xmm6,%xmm0
  mulss  %xmm9,%xmm0
  movss  %xmm3,0x1c(%rsp)
  movaps %xmm1,%xmm3
  movss  %xmm0,0x24(%rsp)
  mulss  %xmm9,%xmm3
  movaps %xmm15,%xmm0
  mulss  %xmm14,%xmm0
  mulss  %xmm13,%xmm14
  mulss  %xmm12,%xmm13
  mulss  %xmm12,%xmm15
  movaps %xmm11,%xmm12
  mulss  %xmm8,%xmm11
  movss  %xmm3,0x20(%rsp)
  movss  0x2c(%r13),%xmm3
  mulss  %xmm10,%xmm12
  mulss  %xmm9,%xmm10
  movss  %xmm13,0x54(%rsp)
  movaps %xmm9,%xmm13
  movss  0x14(%rsp),%xmm9
  mulss  %xmm8,%xmm13
  movaps %xmm1,%xmm8
  movss  %xmm11,0x40(%rsp)
  movss  0x4c(%rsp),%xmm11
  mulss  %xmm5,%xmm1
  mulss  %xmm7,%xmm8
  movss  %xmm13,0x50(%rsp)
  movaps %xmm7,%xmm13
  movss  0x18(%rsp),%xmm7
  mulss  %xmm6,%xmm13
  mulss  %xmm5,%xmm6
  pxor   %xmm5,%xmm5
  mulss  %xmm4,%xmm7
  movss  %xmm6,0x44(%rsp)
  movaps %xmm11,%xmm6
  mulss  %xmm2,%xmm6
  addss  %xmm5,%xmm6
  movss  0x30(%rsp),%xmm5
  mulss  %xmm9,%xmm5
  addss  %xmm6,%xmm5
  movaps %xmm0,%xmm6
  mulss  %xmm4,%xmm6
  mulss  %xmm3,%xmm0
  addss  %xmm7,%xmm5
  movss  0x38(%rsp),%xmm7
  mulss  %xmm2,%xmm7
  subss  %xmm6,%xmm5
  movaps %xmm2,%xmm6
  mulss  %xmm12,%xmm6
  subss  %xmm6,%xmm5
  movaps %xmm9,%xmm6
  mulss  %xmm8,%xmm6
  subss  %xmm6,%xmm5
  movaps %xmm7,%xmm6
  movss  0x3c(%rsp),%xmm7
  mulss  %xmm2,%xmm7
  addss  %xmm6,%xmm7
  movss  (%rsp),%xmm6
  mulss  %xmm11,%xmm6
  movss  0x28(%rsp),%xmm11
  mulss  %xmm9,%xmm11
  addss  %xmm6,%xmm7
  pxor   %xmm6,%xmm6
  addss  %xmm6,%xmm7
  movaps %xmm9,%xmm6
  movaps %xmm11,%xmm9
  movss  0x2c(%rsp),%xmm11
  mulss  %xmm6,%xmm11
  movaps %xmm11,%xmm6
  movss  0x30(%rsp),%xmm11
  mulss  0x8(%rsp),%xmm11
  addss  %xmm9,%xmm6
  movss  0x1c(%rsp),%xmm9
  mulss  %xmm4,%xmm9
  addss  %xmm11,%xmm6
  addss  %xmm7,%xmm6
  movss  0x20(%rsp),%xmm7
  mulss  %xmm4,%xmm7
  addss  %xmm9,%xmm7
  movss  0x18(%rsp),%xmm9
  mulss  %xmm3,%xmm9
  addss  %xmm9,%xmm7
  movaps %xmm4,%xmm9
  mulss  %xmm14,%xmm9
  mulss  %xmm3,%xmm14
  addss  %xmm7,%xmm6
  movaps %xmm9,%xmm7
  movaps %xmm4,%xmm9
  mulss  %xmm15,%xmm9
  addss  %xmm7,%xmm9
  addss  %xmm0,%xmm9
  movaps %xmm2,%xmm0
  mulss  %xmm10,%xmm0
  subss  %xmm9,%xmm6
  movaps %xmm0,%xmm9
  movss  0x40(%rsp),%xmm0
  mulss  %xmm2,%xmm0
  movaps %xmm0,%xmm7
  movss  (%rsp),%xmm0
  addss  %xmm9,%xmm7
  mulss  %xmm0,%xmm12
  addss  %xmm12,%xmm7
  movss  0x14(%rsp),%xmm12
  movaps %xmm12,%xmm9
  subss  %xmm7,%xmm6
  mulss  %xmm13,%xmm9
  movaps %xmm12,%xmm7
  mulss  %xmm1,%xmm7
  addss  %xmm9,%xmm7
  movss  0x8(%rsp),%xmm9
  movss  0x2c(%rsp),%xmm11
  mulss  %xmm9,%xmm8
  mulss  %xmm9,%xmm11
  addss  %xmm8,%xmm7
  movss  0x3c(%rsp),%xmm8
  mulss  %xmm0,%xmm8
  subss  %xmm7,%xmm6
  movss  0x38(%rsp),%xmm7
  mulss  %xmm0,%xmm7
  movss  0x24(%rsp),%xmm0
  unpcklps %xmm6,%xmm5
  mulss  %xmm4,%xmm0
  addss  %xmm8,%xmm7
  movss  0x34(%rsp),%xmm8
  mulss  %xmm2,%xmm8
  addss  %xmm8,%xmm7
  pxor   %xmm8,%xmm8
  addss  %xmm8,%xmm7
  movaps %xmm9,%xmm8
  movaps %xmm11,%xmm9
  movss  0x28(%rsp),%xmm11
  mulss  %xmm8,%xmm11
  movaps %xmm11,%xmm8
  movss  0x48(%rsp),%xmm11
  addss  %xmm9,%xmm8
  movaps %xmm11,%xmm9
  mulss  %xmm12,%xmm9
  addss  %xmm9,%xmm8
  addss  %xmm7,%xmm8
  movss  0x20(%rsp),%xmm7
  mulss  %xmm3,%xmm7
  movaps %xmm7,%xmm9
  movss  0x1c(%rsp),%xmm7
  mulss  %xmm3,%xmm7
  addss  %xmm9,%xmm7
  movss  0x8(%rsp),%xmm9
  mulss  %xmm9,%xmm1
  addss  %xmm0,%xmm7
  movss  (%rsp),%xmm0
  mulss  %xmm9,%xmm13
  addss  %xmm7,%xmm8
  movaps %xmm15,%xmm7
  movss  0x54(%rsp),%xmm15
  mulss  %xmm3,%xmm7
  mulss  %xmm15,%xmm4
  addss  %xmm13,%xmm1
  addss  %xmm7,%xmm14
  movaps %xmm10,%xmm7
  movss  0x50(%rsp),%xmm10
  mulss  %xmm0,%xmm7
  mulss  %xmm10,%xmm2
  addss  %xmm4,%xmm14
  movss  0x40(%rsp),%xmm4
  mulss  %xmm0,%xmm4
  subss  %xmm14,%xmm8
  addss  %xmm4,%xmm7
  movss  0x44(%rsp),%xmm4
  addss  %xmm7,%xmm2
  pxor   %xmm7,%xmm7
  subss  %xmm2,%xmm8
  movaps %xmm12,%xmm2
  mulss  %xmm4,%xmm2
  mulss  %xmm9,%xmm4
  addss  %xmm2,%xmm1
  movaps %xmm11,%xmm2
  mulss  %xmm9,%xmm2
  subss  %xmm1,%xmm8
  movss  0x34(%rsp),%xmm1
  mulss  %xmm0,%xmm1
  mulss  %xmm10,%xmm0
  addss  %xmm7,%xmm1
  addss  %xmm2,%xmm1
  movss  0x24(%rsp),%xmm2
  mulss  %xmm3,%xmm2
  mulss  %xmm15,%xmm3
  addss  %xmm2,%xmm1
  subss  %xmm3,%xmm1
  subss  %xmm0,%xmm1
  subss  %xmm4,%xmm1
  unpcklps %xmm1,%xmm8
  movlhps %xmm8,%xmm5
  movaps %xmm5,0x60(%rsp)
  call   <free_matrix@plt>
  mov    $0x9,%r8d
  mov    %r15,%rdi
  xor    %eax,%eax
  mov    $0x1,%ecx
  mov    $0x9,%edx
  mov    $0x1,%esi
  call   <free_matrix@plt>
  mov    $0x9,%edx
  mov    %r14,%rdi
  xor    %eax,%eax
  mov    $0x1,%esi
  call   <free_vector@plt>
  mov    0x58(%rsp),%rsi
  xor    %eax,%eax
  lea    0x60(%rsp),%rdi
  call   <FindCubicRoots@plt>
  mov    0x78(%rsp),%rdx
  sub    %fs:0x28,%rdx
  jne    L121
  add    $0x88,%rsp
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  pop    %r14
  pop    %r15
  ret
  cs nopw 0x0(%rax,%rax,1)
L137:
  movslq %ecx,%rax
  jmp    L199
  nopl   0x0(%rax,%rax,1)
L1:
  movaps %xmm2,%xmm1
  movslq %ecx,%rax
  movaps %xmm0,%xmm2
  mov    %edx,%ecx
  jmp    L125
L50:
  movaps %xmm0,%xmm2
  mov    %edx,%ecx
  movaps %xmm1,%xmm0
  mov    %eax,%edx
  jmp    L213
  nop
L10:
  movaps %xmm1,%xmm0
  mov    %eax,%edx
  movaps %xmm2,%xmm1
  mov    %ecx,%eax
  jmp    L227
  nop
L232:
  movaps %xmm2,%xmm1
  mov    %ecx,%eax
  movaps %xmm0,%xmm2
  mov    %edx,%ecx
  jmp    L109
  nop
L88:
  movaps %xmm0,%xmm2
  mov    %edx,%ecx
  movaps %xmm1,%xmm0
  mov    %eax,%edx
  jmp    L17
  nop
L166:
  movaps %xmm1,%xmm0
  mov    %eax,%edx
  movaps %xmm2,%xmm1
  mov    %ecx,%eax
  jmp    L102
L106:
  movl   $0x0,0x4(%rdx)
  movl   $0x0,0x4(%rax)
  movl   $0x0,0x8(%rdx)
  movl   $0x0,0x8(%rax)
  movl   $0x0,0xc(%rdx)
  movl   $0x0,0xc(%rax)
  movl   $0x0,0x10(%rdx)
  movl   $0x0,0x10(%rax)
  movl   $0x0,0x14(%rdx)
  movl   $0x0,0x14(%rax)
  movl   $0x0,0x18(%rdx)
  movl   $0x0,0x18(%rax)
  movl   $0x0,0x1c(%rdx)
  movl   $0x0,0x1c(%rax)
  movl   $0x0,0x20(%rdx)
  movl   $0x0,0x20(%rax)
  movl   $0x0,0x24(%rdx)
  movl   $0x0,0x24(%rax)
  jmp    L112
L121:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: parse_data
arguments: data_tag: D7
datatype: f32

tool: D7: 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));
}
```