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

```asm
<moistiv_epipolar>:
  endbr64
  push   %r15
  push   %r14
  push   %r13
  push   %r12
  push   %rbp
  push   %rbx
  sub    $0x48,%rsp
  mov    %rdi,%rbp
  mov    %rsi,%rbx
  mov    %rdx,%r15
  mov    %rcx,0x18(%rsp)
  mov    %r8,%r13
  mov    %r9,%r14
  mov    %fs:0x28,%rax
  mov    %rax,0x38(%rsp)
  xor    %eax,%eax
  mov    $0x9,%ecx
  mov    $0x1,%edx
  mov    $0x9,%esi
  mov    $0x1,%edi
  call   <matrix@plt>
  movslq %eax,%r12
  mov    $0x9,%esi
  mov    $0x1,%edi
  mov    $0x0,%eax
  call   <vector@plt>
  mov    %eax,0x10(%rsp)
  cltq
  mov    %rax,(%rsp)
  mov    $0x9,%ecx
  mov    $0x1,%edx
  mov    $0x9,%esi
  mov    $0x1,%edi
  mov    $0x0,%eax
  call   <matrix@plt>
  mov    %eax,0x14(%rsp)
  cltq
  mov    %rax,0x8(%rsp)
  mov    %r15,%rdx
  lea    0x8(%r12),%rax
  add    $0x1c,%r15
  movss  D7(%rip),%xmm1
L23:
  mov    (%rdx),%edi
  lea    (%rdi,%rdi,1),%ecx
  movslq %ecx,%rcx
  mov    (%rax),%rsi
  movss  0x0(%rbp,%rcx,4),%xmm0
  mulss  (%rbx,%rcx,4),%xmm0
  movss  %xmm0,0x4(%rsi)
  mov    (%rdx),%edi
  lea    (%rdi,%rdi,1),%ecx
  movslq %ecx,%rcx
  mov    (%rax),%rsi
  movss  0x4(%rbp,%rcx,4),%xmm0
  mulss  (%rbx,%rcx,4),%xmm0
  movss  %xmm0,0x8(%rsi)
  mov    (%rax),%rsi
  mov    (%rdx),%edi
  lea    (%rdi,%rdi,1),%ecx
  movslq %ecx,%rcx
  movss  (%rbx,%rcx,4),%xmm0
  movss  %xmm0,0xc(%rsi)
  mov    (%rdx),%edi
  lea    (%rdi,%rdi,1),%ecx
  movslq %ecx,%rcx
  mov    (%rax),%rsi
  movss  0x4(%rbx,%rcx,4),%xmm0
  mulss  0x0(%rbp,%rcx,4),%xmm0
  movss  %xmm0,0x10(%rsi)
  mov    (%rdx),%edi
  lea    (%rdi,%rdi,1),%ecx
  movslq %ecx,%rcx
  mov    (%rax),%rsi
  movss  0x4(%rbp,%rcx,4),%xmm0
  mulss  0x4(%rbx,%rcx,4),%xmm0
  movss  %xmm0,0x14(%rsi)
  mov    (%rax),%rsi
  mov    (%rdx),%edi
  lea    (%rdi,%rdi,1),%ecx
  movslq %ecx,%rcx
  movss  0x4(%rbx,%rcx,4),%xmm0
  movss  %xmm0,0x18(%rsi)
  mov    (%rax),%rsi
  mov    (%rdx),%edi
  lea    (%rdi,%rdi,1),%ecx
  movslq %ecx,%rcx
  movss  0x0(%rbp,%rcx,4),%xmm0
  movss  %xmm0,0x1c(%rsi)
  mov    (%rax),%rsi
  mov    (%rdx),%edi
  lea    (%rdi,%rdi,1),%ecx
  movslq %ecx,%rcx
  movss  0x4(%rbp,%rcx,4),%xmm0
  movss  %xmm0,0x20(%rsi)
  mov    (%rax),%rcx
  movss  %xmm1,0x24(%rcx)
  add    $0x4,%rdx
  add    $0x8,%rax
  cmp    %r15,%rdx
  jne    L23
  mov    $0x4,%eax
L56:
  mov    0x48(%r12),%rdx
  movl   $0x0,(%rdx,%rax,1)
  mov    0x40(%r12),%rdx
  movl   $0x0,(%rdx,%rax,1)
  add    $0x4,%rax
  cmp    $0x28,%rax
  jne    L56
  mov    0x8(%rsp),%r8
  mov    (%rsp),%rbx
  mov    %rbx,%rcx
  mov    $0x9,%edx
  mov    $0x9,%esi
  mov    %r12,%rdi
  mov    $0x0,%eax
  call   <svdcmp@plt>
  movss  0x8(%rbx),%xmm0
  comiss 0x4(%rbx),%xmm0
  seta   %cl
  movzbl %cl,%ecx
  add    $0x1,%ecx
  comiss 0x4(%rbx),%xmm0
  mov    $0x1,%esi
  mov    $0x2,%eax
  cmovbe %eax,%esi
  movslq %esi,%rax
  movss  (%rbx,%rax,4),%xmm1
  movslq %ecx,%rax
  movss  (%rbx,%rax,4),%xmm2
  movslq 0x10(%rsp),%rdx
  add    $0xc,%rdx
  mov    $0x3,%eax
  jmp    L75
L55:
  movaps %xmm1,%xmm2
  movaps %xmm0,%xmm1
  mov    %esi,%ecx
  mov    %eax,%esi
L26:
  add    $0x1,%eax
  add    $0x4,%rdx
  cmp    $0xa,%eax
  je     L27
L75:
  movss  (%rdx),%xmm0
  comiss %xmm0,%xmm1
  ja     L55
  comiss %xmm0,%xmm2
  minss  %xmm2,%xmm0
  movaps %xmm0,%xmm2
  cmova  %eax,%ecx
  jmp    L26
L27:
  movslq %esi,%rsi
  shl    $0x2,%rsi
  movslq %ecx,%rcx
  shl    $0x2,%rcx
  movslq 0x14(%rsp),%r8
  add    $0x8,%r8
  lea    0x10(%r13),%rbp
  lea    0x10(%r14),%rbx
  mov    $0x0,%r11d
  jmp    L11
L45:
  add    $0x18,%r8
  add    $0x3,%r11d
  add    $0x10,%rbp
  add    $0x10,%rbx
  cmp    $0x9,%r11d
  je     L41
L11:
  mov    %rbp,%r9
  mov    %rbx,%rdi
  mov    %r8,%rdx
  mov    $0x1,%eax
L103:
  mov    (%rdx),%r10
  movss  (%r10,%rsi,1),%xmm1
  movss  %xmm1,(%r9,%rax,4)
  mov    (%rdx),%r10
  movss  (%r10,%rcx,1),%xmm0
  subss  %xmm1,%xmm0
  movss  %xmm0,(%rdi,%rax,4)
  add    $0x1,%rax
  add    $0x8,%rdx
  cmp    $0x4,%rax
  jne    L103
  jmp    L45
L41:
  mov    $0x14,%ecx
  pxor   %xmm3,%xmm3
  movaps %xmm3,%xmm4
  movaps %xmm3,%xmm5
  movaps %xmm3,%xmm6
  mov    $0x1,%edx
L16:
  movslq %edx,%rax
  imul   $0x55555556,%rax,%rax
  shr    $0x20,%rax
  mov    %edx,%esi
  sar    $0x1f,%esi
  sub    %esi,%eax
  lea    (%rax,%rax,2),%esi
  mov    %edx,%eax
  sub    %esi,%eax
  add    $0x1,%eax
  movss  0x0(%r13,%rcx,1),%xmm0
  movslq %eax,%rsi
  mov    %rsi,%rdi
  shl    $0x4,%rdi
  movss  0x8(%r13,%rdi,1),%xmm8
  movaps %xmm0,%xmm9
  mulss  %xmm8,%xmm9
  imul   $0x55555556,%rsi,%rsi
  shr    $0x20,%rsi
  mov    %eax,%r8d
  sar    $0x1f,%r8d
  sub    %r8d,%esi
  lea    (%rsi,%rsi,2),%esi
  sub    %esi,%eax
  add    $0x1,%eax
  cltq
  shl    $0x4,%rax
  movss  0xc(%r13,%rax,1),%xmm2
  movaps %xmm9,%xmm1
  mulss  %xmm2,%xmm1
  addss  %xmm1,%xmm6
  movss  (%r14,%rcx,1),%xmm7
  movaps %xmm8,%xmm10
  mulss  %xmm7,%xmm10
  movss  0x8(%r14,%rdi,1),%xmm11
  mulss  %xmm11,%xmm0
  movss  0xc(%r14,%rax,1),%xmm1
  movaps %xmm2,%xmm8
  mulss  %xmm10,%xmm8
  movaps %xmm2,%xmm12
  mulss  %xmm0,%xmm12
  addss  %xmm12,%xmm8
  mulss  %xmm1,%xmm9
  addss  %xmm9,%xmm8
  addss  %xmm8,%xmm5
  mulss  %xmm11,%xmm7
  mulss  %xmm1,%xmm0
  mulss  %xmm1,%xmm10
  addss  %xmm10,%xmm0
  mulss  %xmm7,%xmm2
  addss  %xmm2,%xmm0
  addss  %xmm0,%xmm4
  mulss  %xmm7,%xmm1
  addss  %xmm1,%xmm3
  add    $0x1,%edx
  add    $0x10,%rcx
  cmp    $0x4,%edx
  jne    L16
  mov    $0x14,%ecx
  mov    $0x1,%edx
L46:
  add    $0x1,%edx
  movslq %edx,%rax
  imul   $0x55555556,%rax,%rax
  shr    $0x20,%rax
  mov    %edx,%esi
  sar    $0x1f,%esi
  sub    %esi,%eax
  lea    (%rax,%rax,2),%esi
  mov    %edx,%eax
  sub    %esi,%eax
  movss  0x0(%r13,%rcx,1),%xmm0
  lea    0x1(%rax),%edi
  movslq %edi,%rdi
  shl    $0x4,%rdi
  movss  0x8(%r13,%rdi,1),%xmm8
  movaps %xmm0,%xmm9
  mulss  %xmm8,%xmm9
  add    $0x2,%eax
  movslq %eax,%rsi
  imul   $0x55555556,%rsi,%rsi
  shr    $0x20,%rsi
  mov    %eax,%r8d
  sar    $0x1f,%r8d
  sub    %r8d,%esi
  lea    (%rsi,%rsi,2),%esi
  sub    %esi,%eax
  add    $0x1,%eax
  cltq
  shl    $0x4,%rax
  movss  0xc(%r13,%rax,1),%xmm2
  movaps %xmm9,%xmm1
  mulss  %xmm2,%xmm1
  subss  %xmm1,%xmm6
  movss  (%r14,%rcx,1),%xmm7
  movaps %xmm8,%xmm11
  mulss  %xmm7,%xmm11
  movss  0x8(%r14,%rdi,1),%xmm10
  mulss  %xmm10,%xmm0
  movss  0xc(%r14,%rax,1),%xmm1
  movaps %xmm2,%xmm8
  mulss  %xmm11,%xmm8
  movaps %xmm2,%xmm12
  mulss  %xmm0,%xmm12
  addss  %xmm12,%xmm8
  mulss  %xmm1,%xmm9
  addss  %xmm9,%xmm8
  subss  %xmm8,%xmm5
  mulss  %xmm10,%xmm7
  mulss  %xmm1,%xmm0
  mulss  %xmm1,%xmm11
  addss  %xmm11,%xmm0
  mulss  %xmm7,%xmm2
  addss  %xmm2,%xmm0
  subss  %xmm0,%xmm4
  mulss  %xmm7,%xmm1
  subss  %xmm1,%xmm3
  add    $0x10,%rcx
  cmp    $0x4,%edx
  jne    L46
  movss  %xmm6,0x20(%rsp)
  movss  %xmm5,0x24(%rsp)
  movss  %xmm4,0x28(%rsp)
  movss  %xmm3,0x2c(%rsp)
  mov    $0x9,%r8d
  mov    $0x1,%ecx
  mov    $0x9,%edx
  mov    $0x1,%esi
  mov    %r12,%rdi
  mov    $0x0,%eax
  call   <free_matrix@plt>
  mov    $0x9,%r8d
  mov    $0x1,%ecx
  mov    $0x9,%edx
  mov    $0x1,%esi
  mov    0x8(%rsp),%rdi
  mov    $0x0,%eax
  call   <free_matrix@plt>
  mov    $0x9,%edx
  mov    $0x1,%esi
  mov    (%rsp),%rdi
  mov    $0x0,%eax
  call   <free_vector@plt>
  lea    0x20(%rsp),%rdi
  mov    0x18(%rsp),%rsi
  mov    $0x0,%eax
  call   <FindCubicRoots@plt>
  mov    0x38(%rsp),%rdx
  sub    %fs:0x28,%rdx
  jne    L61
  add    $0x48,%rsp
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  pop    %r14
  pop    %r15
  ret
L61:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: retrieve_data
arguments: data_tag: D7
type_infered: 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));
}
```