#pragma once

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

namespace caspar {

void PinholePoseUpdateRFirst(float* PinholePose_r_k,
                             unsigned int PinholePose_r_k_num_alloc,
                             float* PinholePose_w,
                             unsigned int PinholePose_w_num_alloc,
                             const float* const negalpha,
                             float* out_PinholePose_r_kp1,
                             unsigned int out_PinholePose_r_kp1_num_alloc,
                             float* const out_PinholePose_r_0_norm2_tot,
                             float* const out_PinholePose_r_kp1_norm2_tot,
                             size_t problem_size);

}  // namespace caspar