user: 请将以下的汇编代码转换成C语言代码:

```asm
<sift_extract_feature_vector>:
  endbr64
  push   %r15
  mov    %r9d,%r15d
  push   %r14
  push   %r13
  push   %r12
  push   %rbp
  push   %rbx
  mov    %ecx,%ebx
  sub    $0xe8,%rsp
  mov    %rdi,0xb0(%rsp)
  mov    0x120(%rsp),%r14
  mov    %rsi,0xb8(%rsp)
  mov    %edx,0xc4(%rsp)
  mov    %r8d,0xa0(%rsp)
  movss  %xmm0,0xcc(%rsp)
  movss  %xmm1,0x88(%rsp)
  movss  %xmm2,0x94(%rsp)
  movss  %xmm3,0xa4(%rsp)
  movss  %xmm4,0x98(%rsp)
  mov    %fs:0x28,%rax
  mov    %rax,0xd8(%rsp)
  mov    %r8d,%eax
  imul   %r8d,%eax
  imul   %r9d,%eax
  test   %eax,%eax
  jle    L16
  cltq
  xor    %esi,%esi
  mov    %r14,%rdi
  lea    0x0(,%rax,4),%rdx
  call   <memset@plt>
L16:
  mov    0xa0(%rsp),%ecx
  pxor   %xmm7,%xmm7
  xor    %eax,%eax
  movss  D124(%rip),%xmm1
  movss  0x88(%rsp),%xmm6
  cvtsi2ss %ecx,%xmm7
  movaps %xmm1,%xmm0
  movss  %xmm7,0xc0(%rsp)
  divss  %xmm7,%xmm0
  movss  0xcc(%rsp),%xmm7
  addss  %xmm1,%xmm0
  movaps %xmm7,%xmm1
  mulss  0x98(%rsp),%xmm0
  mulss  0x94(%rsp),%xmm0
  movss  %xmm0,0x8c(%rsp)
  cvtss2sd %xmm0,%xmm0
  mulsd  D70(%rip),%xmm0
  cvtsd2ss %xmm0,%xmm0
  subss  %xmm0,%xmm1
  addss  %xmm0,%xmm7
  cvtss2sd %xmm1,%xmm1
  addsd  D146(%rip),%xmm1
  cvttsd2si %xmm1,%esi
  movaps %xmm6,%xmm1
  subss  %xmm0,%xmm1
  addss  %xmm6,%xmm0
  cvtss2sd %xmm1,%xmm1
  addsd  D146(%rip),%xmm1
  test   %esi,%esi
  cvtss2sd %xmm0,%xmm0
  cmovns %esi,%eax
  addsd  D146(%rip),%xmm0
  cvttsd2si %xmm1,%edi
  pxor   %xmm1,%xmm1
  mov    %eax,0x90(%rsp)
  mov    %eax,%esi
  cvtss2sd %xmm7,%xmm1
  xor    %eax,%eax
  addsd  D146(%rip),%xmm1
  cvttsd2si %xmm0,%edx
  test   %edi,%edi
  cmovns %edi,%eax
  sub    $0x1,%ebx
  mov    %ebx,%edi
  mov    %eax,0xac(%rsp)
  cvttsd2si %xmm1,%eax
  cmp    %ebx,%eax
  mov    0xc4(%rsp),%ebx
  cmovle %eax,%edi
  lea    -0x1(%rbx),%eax
  cmp    %eax,%edx
  mov    %edi,0xc8(%rsp)
  cmovle %edx,%eax
  mov    %eax,0x6c(%rsp)
  cmp    %edi,%esi
  jge    L20
  imul   %ebx,%esi
  movslq %r15d,%rax
  imul   %r15d,%ecx
  shl    $0x2,%rax
  mov    %rax,0x40(%rsp)
  mov    %esi,0x9c(%rsp)
  mov    %ecx,0x5c(%rsp)
  nopl   0x0(%rax)
L33:
  mov    0x6c(%rsp),%edi
  cmp    %edi,0xac(%rsp)
  jge    L163
  mov    0xac(%rsp),%eax
  pxor   %xmm0,%xmm0
  movss  0xa4(%rsp),%xmm5
  cvtsi2ssl 0x90(%rsp),%xmm0
  xorps  D174(%rip),%xmm5
  subss  0xcc(%rsp),%xmm0
  mov    %eax,0x4c(%rsp)
  lea    0xd4(%rsp),%rax
  mov    %rax,0x80(%rsp)
  lea    0xd0(%rsp),%rax
  mov    %rax,0x78(%rsp)
  mov    0xa0(%rsp),%eax
  movss  %xmm0,0x70(%rsp)
  sub    $0x1,%eax
  movss  %xmm5,0x74(%rsp)
  mov    %eax,0xa8(%rsp)
  jmp    L126
  xchg   %ax,%ax
L62:
  addl   $0x1,0x4c(%rsp)
  mov    0x4c(%rsp),%eax
  cmp    %eax,0x6c(%rsp)
  je     L163
L126:
  pxor   %xmm1,%xmm1
  movss  0x70(%rsp),%xmm0
  movss  0x74(%rsp),%xmm2
  cvtsi2ssl 0x4c(%rsp),%xmm1
  mov    0x80(%rsp),%rsi
  mov    0x78(%rsp),%rdi
  subss  0x88(%rsp),%xmm1
  movss  %xmm0,0xd0(%rsp)
  movss  %xmm1,0xd4(%rsp)
  call   <apply_rotation@plt>
  pxor   %xmm5,%xmm5
  movss  0xd0(%rsp),%xmm1
  comiss %xmm1,%xmm5
  jbe    L93
  xorps  D174(%rip),%xmm1
L93:
  movss  0xd4(%rsp),%xmm0
  pxor   %xmm7,%xmm7
  comiss %xmm0,%xmm7
  jbe    L142
  xorps  D174(%rip),%xmm0
L142:
  movss  0x8c(%rsp),%xmm6
  maxss  %xmm1,%xmm0
  comiss %xmm0,%xmm6
  jbe    L62
  mov    0xb8(%rsp),%rcx
  mov    0x4c(%rsp),%eax
  pxor   %xmm4,%xmm4
  pxor   %xmm5,%xmm5
  mov    0xb0(%rsp),%rdi
  add    0x9c(%rsp),%eax
  cltq
  cvtss2sd (%rdi,%rax,4),%xmm4
  cvtss2sd (%rcx,%rax,4),%xmm5
  movapd %xmm4,%xmm1
  movapd %xmm5,%xmm0
  movsd  %xmm4,0x20(%rsp)
  movsd  %xmm5,0x8(%rsp)
  call   <atan2@plt>
  mov    $0x6,%edi
  subss  0xa4(%rsp),%xmm0
  call   <modulus@plt>
  movsd  0x8(%rsp),%xmm5
  movss  0x98(%rsp),%xmm3
  mulss  0x94(%rsp),%xmm3
  movsd  0x20(%rsp),%xmm4
  movss  %xmm0,0x18(%rsp)
  movapd %xmm5,%xmm1
  movapd %xmm4,%xmm0
  cvtss2sd %xmm3,%xmm3
  movsd  %xmm3,0x10(%rsp)
  call   <hypot@plt>
  movsd  0x10(%rsp),%xmm3
  movss  0xd4(%rsp),%xmm1
  movsd  %xmm0,0x8(%rsp)
  movss  0xd0(%rsp),%xmm0
  mulss  %xmm1,%xmm1
  mulss  %xmm0,%xmm0
  addss  %xmm1,%xmm0
  movapd %xmm3,%xmm1
  xorps  D174(%rip),%xmm0
  addsd  %xmm3,%xmm1
  cvtss2sd %xmm0,%xmm0
  mulsd  %xmm3,%xmm1
  divsd  %xmm1,%xmm0
  cvtsd2ss %xmm0,%xmm0
  call   <exp@plt>
  movsd  0x8(%rsp),%xmm7
  movss  0x98(%rsp),%xmm3
  mov    0xa0(%rsp),%ebp
  pxor   %xmm5,%xmm5
  pxor   %xmm6,%xmm6
  movss  0xd4(%rsp),%xmm1
  mulsd  %xmm0,%xmm7
  movaps %xmm3,%xmm4
  movss  0x18(%rsp),%xmm2
  movss  0xd0(%rsp),%xmm0
  addss  %xmm3,%xmm4
  pxor   %xmm3,%xmm3
  mulss  0x94(%rsp),%xmm4
  cvtsi2sd %ebp,%xmm3
  subsd  D142(%rip),%xmm3
  cvtss2sd %xmm2,%xmm2
  mulsd  D146(%rip),%xmm3
  divsd  D111(%rip),%xmm2
  divss  0xc0(%rsp),%xmm4
  divss  %xmm4,%xmm0
  movsd  %xmm7,0x8(%rsp)
  divss  %xmm4,%xmm1
  cvtss2sd %xmm0,%xmm0
  addsd  %xmm3,%xmm0
  cvtsd2ss %xmm0,%xmm5
  pxor   %xmm0,%xmm0
  movss  %xmm5,0x3c(%rsp)
  cvtss2sd %xmm1,%xmm0
  addsd  %xmm3,%xmm0
  cvtsd2ss %xmm0,%xmm6
  pxor   %xmm0,%xmm0
  movss  %xmm6,0x38(%rsp)
  cvtsi2sd %r15d,%xmm0
  mulsd  %xmm0,%xmm2
  movaps %xmm5,%xmm0
  cvtsd2ss %xmm2,%xmm2
  movss  %xmm2,0x10(%rsp)
  call   <floor@plt>
  movss  0x38(%rsp),%xmm0
  mov    %eax,%ebx
  call   <floor@plt>
  xor    %edx,%edx
  mov    0xa8(%rsp),%esi
  test   %ebx,%ebx
  mov    %edx,%edi
  cmovns %ebx,%edi
  add    $0x1,%ebx
  cmp    %esi,%ebx
  cmovg  %esi,%ebx
  mov    %edi,0x48(%rsp)
  mov    %ebx,0x58(%rsp)
  cmp    %ebx,%edi
  jg     L62
  test   %eax,%eax
  mov    %edx,%ecx
  movss  0x10(%rsp),%xmm2
  cmovns %eax,%ecx
  add    $0x1,%eax
  cmp    %esi,%eax
  cmovg  %esi,%eax
  mov    %ecx,0x54(%rsp)
  mov    %eax,0x2c(%rsp)
  mov    %edi,%eax
  imul   %ebp,%eax
  add    %ecx,%eax
  imul   %r15d,%ecx
  imul   %r15d,%eax
  mov    %ecx,0x68(%rsp)
  mov    %eax,0x50(%rsp)
  movslq %ecx,%rax
  mov    %rax,0x60(%rsp)
  nop
L2:
  mov    0x2c(%rsp),%esi
  cmp    %esi,0x54(%rsp)
  jg     L150
  cvttss2si %xmm2,%eax
  mov    0x50(%rsp),%r13d
  pxor   %xmm6,%xmm6
  mov    0x54(%rsp),%ebp
  cvtsi2ssl 0x48(%rsp),%xmm6
  lea    0x1(%rax,%r15,1),%edi
  add    %r15d,%eax
  cltd
  mov    %edi,0x30(%rsp)
  idiv   %r15d
  movss  %xmm6,0x34(%rsp)
  mov    %r13d,%eax
  sub    0x68(%rsp),%eax
  cltq
  movslq %edx,%rdx
  add    0x60(%rsp),%rdx
  add    %rax,%rdx
  lea    (%r14,%rdx,4),%r12
  nopl   0x0(%rax,%rax,1)
L37:
  movaps %xmm2,%xmm0
  movss  %xmm2,0x10(%rsp)
  call   <floor@plt>
  pxor   %xmm0,%xmm0
  movss  0x10(%rsp),%xmm2
  pxor   %xmm5,%xmm5
  cvtsi2ss %eax,%xmm0
  movaps %xmm2,%xmm1
  subss  %xmm0,%xmm1
  movsd  D142(%rip),%xmm0
  cvtss2sd %xmm1,%xmm1
  subsd  %xmm1,%xmm0
  movss  0x34(%rsp),%xmm1
  subss  0x3c(%rsp),%xmm1
  comiss %xmm1,%xmm5
  jbe    L117
  xorps  D174(%rip),%xmm1
L117:
  movsd  D142(%rip),%xmm3
  cvtss2sd %xmm1,%xmm1
  pxor   %xmm5,%xmm5
  subsd  %xmm1,%xmm3
  pxor   %xmm1,%xmm1
  cvtsi2ss %ebp,%xmm1
  subss  0x38(%rsp),%xmm1
  mulsd  %xmm3,%xmm0
  comiss %xmm1,%xmm5
  jbe    L144
  xorps  D174(%rip),%xmm1
L144:
  mov    0x30(%rsp),%eax
  cvtss2sd %xmm1,%xmm1
  add    $0x1,%ebp
  movsd  D142(%rip),%xmm4
  movsd  %xmm3,0x20(%rsp)
  cltd
  subsd  %xmm1,%xmm4
  pxor   %xmm1,%xmm1
  movss  %xmm2,0x10(%rsp)
  idiv   %r15d
  cvtss2sd (%r12),%xmm1
  movsd  %xmm4,0x18(%rsp)
  mulsd  %xmm4,%xmm0
  mulsd  0x8(%rsp),%xmm0
  addsd  %xmm1,%xmm0
  cvtsd2ss %xmm0,%xmm0
  movss  %xmm0,(%r12)
  movaps %xmm2,%xmm0
  mov    %edx,%ebx
  call   <floor@plt>
  pxor   %xmm0,%xmm0
  add    %r13d,%ebx
  movss  0x10(%rsp),%xmm2
  add    $0x1,%eax
  movsd  0x20(%rsp),%xmm3
  movslq %ebx,%rbx
  add    %r15d,%r13d
  cvtsi2ss %eax,%xmm0
  movsd  D142(%rip),%xmm1
  movsd  0x18(%rsp),%xmm4
  lea    (%r14,%rbx,4),%rdx
  add    0x40(%rsp),%r12
  subss  %xmm2,%xmm0
  cvtss2sd %xmm0,%xmm0
  subsd  %xmm0,%xmm1
  mulsd  %xmm3,%xmm1
  movapd %xmm1,%xmm0
  pxor   %xmm1,%xmm1
  mulsd  %xmm4,%xmm0
  cvtss2sd (%rdx),%xmm1
  mulsd  0x8(%rsp),%xmm0
  addsd  %xmm1,%xmm0
  cvtsd2ss %xmm0,%xmm0
  movss  %xmm0,(%rdx)
  cmp    0x2c(%rsp),%ebp
  jle    L37
L150:
  addl   $0x1,0x48(%rsp)
  mov    0x5c(%rsp),%edi
  mov    0x48(%rsp),%eax
  add    %edi,0x50(%rsp)
  cmp    0x58(%rsp),%eax
  jle    L2
  addl   $0x1,0x4c(%rsp)
  mov    0x4c(%rsp),%eax
  cmp    %eax,0x6c(%rsp)
  jne    L126
  nopl   0x0(%rax,%rax,1)
L163:
  addl   $0x1,0x90(%rsp)
  mov    0xc4(%rsp),%ecx
  mov    0x90(%rsp),%eax
  add    %ecx,0x9c(%rsp)
  cmp    %eax,0xc8(%rsp)
  jne    L33
L20:
  mov    0xd8(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L36
  add    $0xe8,%rsp
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  pop    %r14
  pop    %r15
  ret
L36:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: disassemble_data
arguments: data_label: D124
type: f32
name: disassemble_data
arguments: data_label: D70
type: f64
name: disassemble_data
arguments: data_label: D146
type: f64
name: disassemble_data
arguments: data_label: D174
type: byte[16]
name: disassemble_data
arguments: data_label: D142
type: f32[2]
name: disassemble_data
arguments: data_label: D111
type: byte[8]

tool: D124: 1

tool: D70: 1.4142135623730951

tool: D146: 0.5

tool: {"D174": [0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00]}

tool: {"D142": [0.0,1.875]}

tool: {"D111": [0x18,0x2d,0x44,0x54,0xfb,0x21,0x19,0x40]}

assistant: ```c
void sift_extract_feature_vector(float x_key, float y_key, float sigma_key, float theta_key, const float *imX, const float *imY, int w, int h, int Nhist, int Nbins, float lambda_descr, float *descr) {
  for (int i = 0; i < Nhist * Nhist * Nbins; i++) {
    descr[i] = 0.0;
  }
  float R = (1 + 1 / (float)Nhist) * lambda_descr * sigma_key;
  float Rp = 1.41421356237309504880 * R;
  int siMin = ((0) < ((int)(x_key - Rp + 0.5)) ? ((int)(x_key - Rp + 0.5)) : (0));
  int sjMin = ((0) < ((int)(y_key - Rp + 0.5)) ? ((int)(y_key - Rp + 0.5)) : (0));
  int siMax = (((int)(x_key + Rp + 0.5)) < (h - 1) ? ((int)(x_key + Rp + 0.5)) : (h - 1));
  int sjMax = (((int)(y_key + Rp + 0.5)) < (w - 1) ? ((int)(y_key + Rp + 0.5)) : (w - 1));
  for (int si = siMin; si < siMax; si++) {
    for (int sj = sjMin; sj < sjMax; sj++) {
      float X = si - x_key;
      float Y = sj - y_key;
      apply_rotation(X, Y, &X, &Y, -theta_key);
      if (((((X) < 0 ? -(X) : (X))) < (((Y) < 0 ? -(Y) : (Y))) ? (((Y) < 0 ? -(Y) : (Y))) : (((X) < 0 ? -(X) : (X)))) < R) {
        double dx = imX[si * w + sj];
        double dy = imY[si * w + sj];
        float ori = atan2(dy, dx) - theta_key;
        ori = modulus(ori, 2 * 3.14159265358979323846);
        double t = lambda_descr * sigma_key;
        double M = hypot(dx, dy) * exp(-(X * X + Y * Y) / (2 * t * t));
        float alpha = X / (2 * lambda_descr * sigma_key / Nhist) + (Nhist - 1.0) / 2.0;
        float beta = Y / (2 * lambda_descr * sigma_key / Nhist) + (Nhist - 1.0) / 2.0;
        float gamma = ori / (2 * 3.14159265358979323846) * Nbins;
        int i0 = floor(alpha);
        int j0 = floor(beta);
        for (int i = ((0) < (i0) ? (i0) : (0)); i <= ((i0 + 1) < (Nhist - 1) ? (i0 + 1) : (Nhist - 1)); i++) {
          for (int j = ((0) < (j0) ? (j0) : (0)); j <= ((j0 + 1) < (Nhist - 1) ? (j0 + 1) : (Nhist - 1)); j++) {
            int k;
            k = ((int)gamma + Nbins) % Nbins;
            descr[i * Nhist * Nbins + j * Nbins + k] += (1. - (gamma - floor(gamma))) * (1.0 - (((float)i - alpha) < 0 ? -((float)i - alpha) : ((float)i - alpha))) * (1.0 - (((float)j - beta) < 0 ? -((float)j - beta) : ((float)j - beta))) * M;
            k = ((int)gamma + 1 + Nbins) % Nbins;
            descr[i * Nhist * Nbins + j * Nbins + k] += (1.0 - (floor(gamma) + 1 - gamma)) * (1.0 - (((float)i - alpha) < 0 ? -((float)i - alpha) : ((float)i - alpha))) * (1.0 - (((float)j - beta) < 0 ? -((float)j - beta) : ((float)j - beta))) * M;
          }
        }
      }
    }
  }
}
```