#pragma once

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

namespace caspar {

void PinholeFixedPointResJac(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* pixel,
                             unsigned int pixel_num_alloc,
                             float* point,
                             unsigned int point_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,
                             size_t problem_size);

}  // namespace caspar