#pragma once

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

namespace caspar {

void PinholeFixedPoseResJacFirst(double* sensor_from_rig,
                                 unsigned int sensor_from_rig_num_alloc,
                                 double* calib,
                                 unsigned int calib_num_alloc,
                                 SharedIndex* calib_indices,
                                 double* point,
                                 unsigned int point_num_alloc,
                                 SharedIndex* point_indices,
                                 double* pixel,
                                 unsigned int pixel_num_alloc,
                                 double* pose,
                                 unsigned int pose_num_alloc,
                                 double* out_res,
                                 unsigned int out_res_num_alloc,
                                 double* const out_rTr,
                                 double* out_calib_jac,
                                 unsigned int out_calib_jac_num_alloc,
                                 double* const out_calib_njtr,
                                 unsigned int out_calib_njtr_num_alloc,
                                 double* const out_calib_precond_diag,
                                 unsigned int out_calib_precond_diag_num_alloc,
                                 double* const out_calib_precond_tril,
                                 unsigned int out_calib_precond_tril_num_alloc,
                                 double* out_point_jac,
                                 unsigned int out_point_jac_num_alloc,
                                 double* const out_point_njtr,
                                 unsigned int out_point_njtr_num_alloc,
                                 double* const out_point_precond_diag,
                                 unsigned int out_point_precond_diag_num_alloc,
                                 double* const out_point_precond_tril,
                                 unsigned int out_point_precond_tril_num_alloc,
                                 size_t problem_size);

}  // namespace caspar