#pragma once

#include "shared_indices.h"
#include <cuda_runtime.h>

namespace caspar {

void PinholeResJacFirst(float* pose,
                        unsigned int pose_num_alloc,
                        SharedIndex* pose_indices,
                        float* sensor_from_rig,
                        unsigned int sensor_from_rig_num_alloc,
                        float* calib,
                        unsigned int calib_num_alloc,
                        SharedIndex* calib_indices,
                        float* point,
                        unsigned int point_num_alloc,
                        SharedIndex* point_indices,
                        float* pixel,
                        unsigned int pixel_num_alloc,
                        float* out_res,
                        unsigned int out_res_num_alloc,
                        float* const out_rTr,
                        float* out_pose_jac,
                        unsigned int out_pose_jac_num_alloc,
                        float* const out_pose_njtr,
                        unsigned int out_pose_njtr_num_alloc,
                        float* const out_pose_precond_diag,
                        unsigned int out_pose_precond_diag_num_alloc,
                        float* const out_pose_precond_tril,
                        unsigned int out_pose_precond_tril_num_alloc,
                        float* out_calib_jac,
                        unsigned int out_calib_jac_num_alloc,
                        float* const out_calib_njtr,
                        unsigned int out_calib_njtr_num_alloc,
                        float* const out_calib_precond_diag,
                        unsigned int out_calib_precond_diag_num_alloc,
                        float* const out_calib_precond_tril,
                        unsigned int out_calib_precond_tril_num_alloc,
                        float* out_point_jac,
                        unsigned int out_point_jac_num_alloc,
                        float* const out_point_njtr,
                        unsigned int out_point_njtr_num_alloc,
                        float* const out_point_precond_diag,
                        unsigned int out_point_precond_diag_num_alloc,
                        float* const out_point_precond_tril,
                        unsigned int out_point_precond_tril_num_alloc,
                        size_t problem_size);

}  // namespace caspar