#pragma once

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

namespace caspar {

void PinholeResJac(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* 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