From 0b907d088dc2349b8b8785df723991171ca24b3e Mon Sep 17 00:00:00 2001
From: Leonid Beynenson <no@email>
Date: Thu, 1 Dec 2011 13:35:07 +0000
Subject: [PATCH] =?UTF-8?q?Made=20changes=20in=20BundleAdjusterBase=20clas?=
 =?UTF-8?q?s=20to=20pass=20a=20termination=20criteria=20to=20the=20Levenbe?=
 =?UTF-8?q?rg=E2=80=93Marquardt=20algorithm.?=
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---
 .../include/opencv2/stitching/detail/motion_estimators.hpp | 7 +++++++
 modules/stitching/src/motion_estimators.cpp                | 2 +-
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp b/modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp
index 81fff1f699..b199f66f1e 100644
--- a/modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp
+++ b/modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp
@@ -93,6 +93,9 @@ public:
     double confThresh() const { return conf_thresh_; }
     void setConfThresh(double conf_thresh) { conf_thresh_ = conf_thresh; }
 
+    CvTermCriteria termCriteria() { return term_criteria_; }
+    void setTermCriteria(const CvTermCriteria& term_criteria) { term_criteria_ = term_criteria; }
+
 protected:
     BundleAdjusterBase(int num_params_per_cam, int num_errs_per_measurement) 
         : num_params_per_cam_(num_params_per_cam), 
@@ -100,6 +103,7 @@ protected:
     {    
         setRefinementMask(Mat::ones(3, 3, CV_8U));
         setConfThresh(1.); 
+        setTermCriteria(cvTermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 1000, DBL_EPSILON));
     }
 
     // Runs bundle adjustment
@@ -127,6 +131,9 @@ protected:
     // Threshold to filter out poorly matched image pairs
     double conf_thresh_;
 
+    //Levenberg–Marquardt algorithm termination criteria
+    CvTermCriteria term_criteria_;
+
     // Camera parameters matrix (CV_64F)
     Mat cam_params_;
 
diff --git a/modules/stitching/src/motion_estimators.cpp b/modules/stitching/src/motion_estimators.cpp
index c302bba589..2abb7dcc82 100644
--- a/modules/stitching/src/motion_estimators.cpp
+++ b/modules/stitching/src/motion_estimators.cpp
@@ -188,7 +188,7 @@ void BundleAdjusterBase::estimate(const vector<ImageFeatures> &features,
 
     CvLevMarq solver(num_images_ * num_params_per_cam_, 
                      total_num_matches_ * num_errs_per_measurement_,
-                     cvTermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 1000, DBL_EPSILON));
+                     term_criteria_);
 
     Mat err, jac;
     CvMat matParams = cam_params_;