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				+// Ceres Solver - A fast non-linear least squares minimizer 
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				+// Copyright 2013 Google Inc. All rights reserved. 
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				+// http://code.google.com/p/ceres-solver/ 
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				+// 
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				+// Redistribution and use in source and binary forms, with or without 
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				+// modification, are permitted provided that the following conditions are met: 
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				+// 
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				+// * Redistributions of source code must retain the above copyright notice, 
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				+//   this list of conditions and the following disclaimer. 
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				+// * Redistributions in binary form must reproduce the above copyright notice, 
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				+//   this list of conditions and the following disclaimer in the documentation 
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				+//   and/or other materials provided with the distribution. 
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				+// * Neither the name of Google Inc. nor the names of its contributors may be 
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				+//   used to endorse or promote products derived from this software without 
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				+//   specific prior written permission. 
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				+// 
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				+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
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				+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
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				+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
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				+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 
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				+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
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				+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
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				+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
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				+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
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				+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
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				+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
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				+// POSSIBILITY OF SUCH DAMAGE. 
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				+// 
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				+// Author: sameeragarwal@google.com (Sameer Agarwal) 
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				+ 
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				+#include "ceres/block_random_access_crs_matrix.h" 
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				+ 
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				+#include <algorithm> 
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				+#include <set> 
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				+#include <utility> 
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				+#include <vector> 
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				+#include "ceres/compressed_row_sparse_matrix.h" 
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				+#include "ceres/internal/port.h" 
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				+#include "ceres/internal/scoped_ptr.h" 
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				+#include "ceres/mutex.h" 
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				+#include "ceres/triplet_sparse_matrix.h" 
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				+#include "ceres/types.h" 
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				+#include "glog/logging.h" 
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				+ 
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				+namespace ceres { 
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				+namespace internal { 
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				+ 
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				+BlockRandomAccessCRSMatrix::BlockRandomAccessCRSMatrix( 
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				+    const vector<int>& blocks, 
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				+    const set<pair<int, int> >& block_pairs) 
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				+    : kMaxRowBlocks(10 * 1000 * 1000), 
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				+      blocks_(blocks) { 
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				+  CHECK_LT(blocks.size(), kMaxRowBlocks); 
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				+ 
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				+  col_layout_.resize(blocks_.size(), 0); 
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				+  row_strides_.resize(blocks_.size(), 0); 
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				+ 
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				+  // Build the row/column layout vector and count the number of scalar 
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				+  // rows/columns. 
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				+  int num_cols = 0; 
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				+  for (int i = 0; i < blocks_.size(); ++i) { 
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				+    col_layout_[i] = num_cols; 
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				+    num_cols += blocks_[i]; 
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				+  } 
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				+ 
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				+  // Walk the sparsity pattern and count the number of non-zeros. 
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				+  int num_nonzeros = 0; 
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				+  for (set<pair<int, int> >::const_iterator it = block_pairs.begin(); 
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				+       it != block_pairs.end(); 
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				+       ++it) { 
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				+    const int row_block_size = blocks_[it->first]; 
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				+    const int col_block_size = blocks_[it->second]; 
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				+    num_nonzeros += row_block_size * col_block_size; 
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				+  } 
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				+ 
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				+  VLOG(2) << "Matrix Size [" << num_cols 
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				+          << "," << num_cols 
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				+          << "] " << num_nonzeros; 
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				+ 
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				+  crsm_.reset(new CompressedRowSparseMatrix(num_cols, num_cols, num_nonzeros)); 
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				+  int* rows = crsm_->mutable_rows(); 
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				+  int* cols = crsm_->mutable_cols(); 
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				+  double* values = crsm_->mutable_values(); 
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				+ 
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				+  // Iterate over the sparsity pattern and fill the scalar sparsity 
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				+  // pattern of the underlying compressed sparse row matrix. Along the 
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				+  // way also fill out the Layout object which will allow random 
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				+  // access into the CRS Matrix. 
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				+  set<pair<int, int> >::const_iterator it = block_pairs.begin(); 
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				+  vector<int> col_blocks; 
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				+  int row_pos = 0; 
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				+  rows[0] = 0; 
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				+  while (it != block_pairs.end()) { 
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				+    // Add entries to layout_ for all the blocks for this row. 
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				+    col_blocks.clear(); 
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				+    const int row_block_id = it->first; 
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				+    const int row_block_size = blocks_[row_block_id]; 
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				+    int num_cols = 0; 
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				+    while ((it != block_pairs.end()) && (it->first == row_block_id)) { 
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				+      layout_[IntPairToLong(it->first, it->second)] = 
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				+          new CellInfo(values + num_cols); 
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				+      col_blocks.push_back(it->second); 
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				+      num_cols += blocks_[it->second]; 
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				+      ++it; 
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				+    }; 
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				+ 
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				+    // Count the number of non-zeros in the row block. 
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				+    for (int j = 0; j < row_block_size; ++j) { 
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				+      rows[row_pos + j + 1] = rows[row_pos + j] + num_cols; 
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				+    } 
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				+ 
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				+    // Fill out the sparsity pattern for each row. 
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				+    int col_pos = 0; 
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				+    for (int j = 0; j < col_blocks.size(); ++j) { 
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				+      const int col_block_id = col_blocks[j]; 
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				+      const int col_block_size = blocks_[col_block_id]; 
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				+      for (int r = 0; r < row_block_size; ++r) { 
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				+        const int column_block_begin = rows[row_pos + r] + col_pos; 
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				+        for (int c = 0; c < col_block_size; ++c) { 
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				+          cols[column_block_begin + c] = col_layout_[col_block_id] + c; 
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				+        } 
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				+      } 
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				+      col_pos += col_block_size; 
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				+    } 
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				+ 
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				+    row_pos += row_block_size; 
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				+    values += row_block_size * num_cols; 
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				+    row_strides_[row_block_id] = num_cols; 
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				+  } 
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				+} 
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				+ 
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				+// Assume that the user does not hold any locks on any cell blocks 
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				+// when they are calling SetZero. 
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				+BlockRandomAccessCRSMatrix::~BlockRandomAccessCRSMatrix() { 
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				+  // TODO(sameeragarwal) this should be rationalized going forward and 
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				+  // perhaps moved into BlockRandomAccessMatrix. 
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				+  for (LayoutType::iterator it = layout_.begin(); 
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				+       it != layout_.end(); 
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				+       ++it) { 
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				+    delete it->second; 
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				+  } 
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				+} 
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				+ 
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				+CellInfo* BlockRandomAccessCRSMatrix::GetCell(int row_block_id, 
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				+                                              int col_block_id, 
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				+                                              int* row, 
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				+                                              int* col, 
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				+                                              int* row_stride, 
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				+                                              int* col_stride) { 
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				+  const LayoutType::iterator it  = 
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				+      layout_.find(IntPairToLong(row_block_id, col_block_id)); 
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				+  if (it == layout_.end()) { 
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				+    return NULL; 
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				+  } 
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				+ 
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				+  *row = 0; 
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				+  *col = 0; 
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				+  *row_stride = blocks_[row_block_id]; 
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				+  *col_stride = row_strides_[row_block_id]; 
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				+  return it->second; 
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				+} 
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				+ 
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				+// Assume that the user does not hold any locks on any cell blocks 
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				+// when they are calling SetZero. 
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				+void BlockRandomAccessCRSMatrix::SetZero() { 
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				+  crsm_->SetZero(); 
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				+} 
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				+ 
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				+}  // namespace internal 
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				+}  // namespace ceres 
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