#pragma once

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

namespace caspar {

void SimpleRadialJtjnjtrDirect(float* pose_njtr,
                               unsigned int pose_njtr_num_alloc,
                               SharedIndex* pose_njtr_indices,
                               float* pose_jac,
                               unsigned int pose_jac_num_alloc,
                               float* calib_njtr,
                               unsigned int calib_njtr_num_alloc,
                               SharedIndex* calib_njtr_indices,
                               float* calib_jac,
                               unsigned int calib_jac_num_alloc,
                               float* point_njtr,
                               unsigned int point_njtr_num_alloc,
                               SharedIndex* point_njtr_indices,
                               float* point_jac,
                               unsigned int point_jac_num_alloc,
                               float* const out_pose_njtr,
                               unsigned int out_pose_njtr_num_alloc,
                               float* const out_calib_njtr,
                               unsigned int out_calib_njtr_num_alloc,
                               float* const out_point_njtr,
                               unsigned int out_point_njtr_num_alloc,
                               size_t problem_size);

}  // namespace caspar