#pragma once

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

namespace caspar {

void SimpleRadialSplitFixedPrincipalPointFixedPointJtjnjtrDirect(
    float* pose_njtr,
    unsigned int pose_njtr_num_alloc,
    SharedIndex* pose_njtr_indices,
    float* pose_jac,
    unsigned int pose_jac_num_alloc,
    float* focal_and_extra_njtr,
    unsigned int focal_and_extra_njtr_num_alloc,
    SharedIndex* focal_and_extra_njtr_indices,
    float* focal_and_extra_jac,
    unsigned int focal_and_extra_jac_num_alloc,
    float* const out_pose_njtr,
    unsigned int out_pose_njtr_num_alloc,
    float* const out_focal_and_extra_njtr,
    unsigned int out_focal_and_extra_njtr_num_alloc,
    size_t problem_size);

}  // namespace caspar