Made changes in BundleAdjusterBase class to pass a termination criteria to the…

Made changes in BundleAdjusterBase class to pass a termination criteria to the Levenberg–Marquardt algorithm.

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_;
 

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_;