#pragma once

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

namespace caspar {

void PinholeJtjnjtrDirect(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* point_njtr,
                          unsigned int point_njtr_num_alloc,
                          SharedIndex* point_njtr_indices,
                          double* point_jac,
                          unsigned int point_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,
                          double* const out_point_njtr,
                          unsigned int out_point_njtr_num_alloc,
                          size_t problem_size);

}  // namespace caspar