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

```asm
<moistiv_epipolar>:
  endbr64
  push   %r15
  push   %r14
  mov    %rdi,%r14
  mov    $0x1,%edi
  push   %r13
  mov    %rsi,%r13
  mov    $0x9,%esi
  push   %r12
  mov    %r9,%r12
  push   %rbp
  mov    %r8,%rbp
  push   %rbx
  mov    %rdx,%rbx
  mov    $0x1,%edx
  sub    $0x48,%rsp
  mov    %rcx,0x8(%rsp)
  mov    $0x9,%ecx
  mov    %fs:0x28,%rax
  mov    %rax,0x38(%rsp)
  xor    %eax,%eax
  call   <matrix@plt>
  mov    $0x9,%esi
  mov    $0x1,%edi
  movslq %eax,%r9
  xor    %eax,%eax
  mov    %r9,0x10(%rsp)
  call   <vector@plt>
  mov    $0x9,%esi
  mov    $0x9,%ecx
  mov    $0x1,%edx
  movslq %eax,%r15
  mov    $0x1,%edi
  xor    %eax,%eax
  call   <matrix@plt>
  mov    0x10(%rsp),%r9
  movss  D9(%rip),%xmm1
  movslq %eax,%r10
  lea    0x8(%r9),%rsi
  lea    0x40(%r9),%r11
  xchg   %ax,%ax
L62:
  mov    (%rbx),%eax
  add    $0x8,%rsi
  add    $0x4,%rbx
  lea    (%rax,%rax,1),%edx
  mov    -0x8(%rsi),%rax
  movslq %edx,%rdx
  lea    0x0(,%rdx,4),%rcx
  lea    0x4(,%rdx,4),%rdx
  lea    (%r14,%rcx,1),%rdi
  add    %r13,%rcx
  lea    (%r14,%rdx,1),%r8
  add    %r13,%rdx
  movss  (%rdi),%xmm0
  mulss  (%rcx),%xmm0
  movss  %xmm0,0x4(%rax)
  movss  (%r8),%xmm0
  mulss  (%rcx),%xmm0
  movss  %xmm0,0x8(%rax)
  movss  (%rcx),%xmm0
  movss  %xmm0,0xc(%rax)
  movss  (%rdi),%xmm0
  mulss  (%rdx),%xmm0
  movss  %xmm0,0x10(%rax)
  movss  (%r8),%xmm0
  mulss  (%rdx),%xmm0
  movss  %xmm0,0x14(%rax)
  movss  (%rdx),%xmm0
  movss  %xmm0,0x18(%rax)
  movss  (%rdi),%xmm0
  movss  %xmm0,0x1c(%rax)
  movss  (%r8),%xmm0
  movss  %xmm1,0x24(%rax)
  movss  %xmm0,0x20(%rax)
  cmp    %rsi,%r11
  jne    L62
  mov    0x40(%r9),%rax
  mov    0x48(%r9),%rcx
  lea    0x28(%rax),%rdi
  lea    0x4(%rcx),%rdx
  lea    0x4(%rax),%rsi
  cmp    %rdi,%rdx
  jae    L25
  lea    0x28(%rcx),%rdi
  cmp    %rdi,%rsi
  jb     L4
L25:
  pxor   %xmm0,%xmm0
  movups %xmm0,0x4(%rcx)
  movl   $0x0,0x20(%rdx)
  movups %xmm0,0x10(%rdx)
  movups %xmm0,0x4(%rax)
  movl   $0x0,0x20(%rsi)
  movups %xmm0,0x10(%rsi)
L86:
  mov    %r9,%rdi
  mov    %r10,%r8
  mov    %r15,%rcx
  mov    $0x9,%edx
  mov    $0x9,%esi
  xor    %eax,%eax
  mov    %r10,0x18(%rsp)
  mov    %r9,0x10(%rsp)
  call   <svdcmp@plt>
  movss  0x8(%r15),%xmm0
  xor    %edx,%edx
  comiss 0x4(%r15),%xmm0
  mov    $0x8,%ecx
  mov    $0x4,%eax
  mov    $0x1,%esi
  mov    $0x2,%edi
  mov    0x10(%rsp),%r9
  mov    0x18(%rsp),%r10
  cmovbe %rcx,%rax
  seta   %cl
  seta   %dl
  movzbl %cl,%ecx
  movss  0x4(%r15,%rdx,4),%xmm2
  lea    0xc(%r15),%rdx
  add    $0x1,%ecx
  comiss 0x4(%r15),%xmm0
  movss  (%r15,%rax,1),%xmm1
  mov    $0x3,%eax
  cmovbe %rdi,%rsi
  jmp    L106
  nopl   0x0(%rax,%rax,1)
L23:
  comiss %xmm0,%xmm2
  minss  %xmm2,%xmm0
  cmova  %eax,%ecx
  add    $0x1,%eax
  movaps %xmm0,%xmm2
  add    $0x4,%rdx
  cmp    $0xa,%eax
  je     L70
L106:
  movss  (%rdx),%xmm0
  comiss %xmm0,%xmm1
  jbe    L23
  mov    %esi,%ecx
  movslq %eax,%rsi
  add    $0x1,%eax
  add    $0x4,%rdx
  movaps %xmm1,%xmm2
  movaps %xmm0,%xmm1
  cmp    $0xa,%eax
  jne    L106
L70:
  movslq %ecx,%rcx
  shl    $0x2,%rsi
  lea    0x8(%r10),%rbx
  lea    0x10(%rbp),%r8
  shl    $0x2,%rcx
  lea    0x10(%r12),%rdi
  xor    %r11d,%r11d
L19:
  mov    %rbx,%rdx
  mov    $0x1,%eax
L133:
  mov    (%rdx),%r13
  add    $0x8,%rdx
  movss  0x0(%r13,%rsi,1),%xmm1
  movss  %xmm1,(%r8,%rax,4)
  movss  0x0(%r13,%rcx,1),%xmm0
  subss  %xmm1,%xmm0
  movss  %xmm0,(%rdi,%rax,4)
  add    $0x1,%rax
  cmp    $0x4,%rax
  jne    L133
  add    $0x3,%r11d
  add    $0x18,%rbx
  add    $0x10,%r8
  add    $0x10,%rdi
  cmp    $0x9,%r11d
  jne    L19
  pxor   %xmm2,%xmm2
  mov    $0x14,%esi
  mov    $0x1,%edx
  mov    $0xaaaaaaab,%edi
  movaps %xmm2,%xmm3
  movaps %xmm2,%xmm4
  movaps %xmm2,%xmm5
L6:
  mov    %edx,%eax
  movss  0x0(%rbp,%rsi,1),%xmm0
  imul   %rdi,%rax
  movaps %xmm0,%xmm9
  shr    $0x21,%rax
  lea    (%rax,%rax,2),%ecx
  mov    %edx,%eax
  add    $0x1,%edx
  sub    %ecx,%eax
  add    $0x1,%eax
  mov    %eax,%ecx
  movslq %eax,%r8
  imul   %rdi,%rcx
  shl    $0x4,%r8
  movss  0x8(%rbp,%r8,1),%xmm7
  movss  0x8(%r12,%r8,1),%xmm11
  mulss  %xmm7,%xmm9
  shr    $0x21,%rcx
  lea    (%rcx,%rcx,2),%ecx
  mulss  %xmm11,%xmm0
  sub    %ecx,%eax
  add    $0x1,%eax
  cltq
  shl    $0x4,%rax
  movaps %xmm9,%xmm6
  movss  0xc(%rbp,%rax,1),%xmm1
  movss  0xc(%r12,%rax,1),%xmm8
  mulss  %xmm1,%xmm6
  movaps %xmm1,%xmm12
  mulss  %xmm0,%xmm12
  mulss  %xmm8,%xmm9
  mulss  %xmm8,%xmm0
  addss  %xmm6,%xmm5
  movss  (%r12,%rsi,1),%xmm6
  add    $0x10,%rsi
  mulss  %xmm6,%xmm7
  mulss  %xmm11,%xmm6
  movaps %xmm7,%xmm10
  movaps %xmm1,%xmm7
  mulss  %xmm10,%xmm7
  mulss  %xmm6,%xmm1
  addss  %xmm12,%xmm7
  addss  %xmm9,%xmm7
  addss  %xmm7,%xmm4
  movaps %xmm10,%xmm7
  mulss  %xmm8,%xmm7
  addss  %xmm7,%xmm0
  addss  %xmm1,%xmm0
  addss  %xmm0,%xmm3
  movaps %xmm8,%xmm0
  mulss  %xmm6,%xmm0
  addss  %xmm0,%xmm2
  cmp    $0x4,%edx
  jne    L6
  mov    $0x14,%esi
  mov    $0x1,%ecx
  mov    $0xaaaaaaab,%edi
L123:
  lea    0x1(%rcx),%eax
  movss  0x0(%rbp,%rsi,1),%xmm0
  mov    %rax,%rcx
  imul   %rdi,%rax
  movaps %xmm0,%xmm8
  shr    $0x21,%rax
  lea    (%rax,%rax,2),%edx
  mov    %ecx,%eax
  sub    %edx,%eax
  lea    0x2(%rax),%r8d
  lea    0x1(%rax),%edx
  mov    %r8,%rax
  imul   %rdi,%r8
  movslq %edx,%rdx
  shl    $0x4,%rdx
  movss  0x8(%rbp,%rdx,1),%xmm7
  movss  0x8(%r12,%rdx,1),%xmm11
  shr    $0x21,%r8
  lea    (%r8,%r8,2),%r8d
  mulss  %xmm7,%xmm8
  mulss  %xmm11,%xmm0
  sub    %r8d,%eax
  add    $0x1,%eax
  cltq
  shl    $0x4,%rax
  movss  0xc(%rbp,%rax,1),%xmm1
  movaps %xmm8,%xmm6
  movss  0xc(%r12,%rax,1),%xmm9
  mulss  %xmm1,%xmm6
  movaps %xmm1,%xmm12
  mulss  %xmm0,%xmm12
  mulss  %xmm9,%xmm8
  mulss  %xmm9,%xmm0
  subss  %xmm6,%xmm5
  movss  (%r12,%rsi,1),%xmm6
  add    $0x10,%rsi
  mulss  %xmm6,%xmm7
  mulss  %xmm11,%xmm6
  movaps %xmm7,%xmm10
  movaps %xmm1,%xmm7
  mulss  %xmm10,%xmm7
  mulss  %xmm6,%xmm1
  addss  %xmm12,%xmm7
  addss  %xmm8,%xmm7
  subss  %xmm7,%xmm4
  movaps %xmm10,%xmm7
  mulss  %xmm9,%xmm7
  addss  %xmm7,%xmm0
  addss  %xmm1,%xmm0
  subss  %xmm0,%xmm3
  movaps %xmm9,%xmm0
  mulss  %xmm6,%xmm0
  subss  %xmm0,%xmm2
  cmp    $0x4,%ecx
  jne    L123
  mov    %r9,%rdi
  mov    $0x9,%r8d
  mov    $0x1,%ecx
  xor    %eax,%eax
  mov    $0x9,%edx
  mov    $0x1,%esi
  mov    %r10,0x10(%rsp)
  movss  %xmm5,0x20(%rsp)
  movss  %xmm4,0x24(%rsp)
  movss  %xmm3,0x28(%rsp)
  movss  %xmm2,0x2c(%rsp)
  call   <free_matrix@plt>
  mov    0x10(%rsp),%rdi
  mov    $0x9,%r8d
  mov    $0x1,%ecx
  mov    $0x9,%edx
  mov    $0x1,%esi
  xor    %eax,%eax
  call   <free_matrix@plt>
  mov    $0x9,%edx
  mov    %r15,%rdi
  xor    %eax,%eax
  mov    $0x1,%esi
  call   <free_vector@plt>
  mov    0x8(%rsp),%rsi
  xor    %eax,%eax
  lea    0x20(%rsp),%rdi
  call   <FindCubicRoots@plt>
  mov    0x38(%rsp),%rdx
  sub    %fs:0x28,%rdx
  jne    L0
  add    $0x48,%rsp
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  pop    %r14
  pop    %r15
  ret
L4:
  mov    $0x4,%edx
  xchg   %ax,%ax
L51:
  movl   $0x0,(%rcx,%rdx,1)
  movl   $0x0,(%rax,%rdx,1)
  add    $0x4,%rdx
  cmp    $0x28,%rdx
  jne    L51
  jmp    L86
L0:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: unpack_data
arguments: tag: D9
type: f32

tool: D9: 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));
}
```