#pragma once

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

namespace caspar {

void PinholeFixedPointJtjnjtrDirect(double* pose_njtr,
                                    unsigned int pose_njtr_num_alloc,
                                    SharedIndex* pose_njtr_indices,
                                    double* pose_jac,
                                    unsigned int pose_jac_num_alloc,
                                    double* calib_njtr,
                                    unsigned int calib_njtr_num_alloc,
                                    SharedIndex* calib_njtr_indices,
                                    double* calib_jac,
                                    unsigned int calib_jac_num_alloc,
                                    double* const out_pose_njtr,
                                    unsigned int out_pose_njtr_num_alloc,
                                    double* const out_calib_njtr,
                                    unsigned int out_calib_njtr_num_alloc,
                                    size_t problem_size);

}  // namespace caspar