From 2a285b820ce22dc9316174a89f93560ec9dbe42f Mon Sep 17 00:00:00 2001
From: gareth-odyssey <gareth@odyssey.systems>
Date: Mon, 14 Apr 2025 22:21:26 +0000
Subject: [PATCH] Expose function_tolerance arguments in glomap

---
 glomap/controllers/option_manager.cc | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/glomap/controllers/option_manager.cc b/glomap/controllers/option_manager.cc
index 3a7c8ff..8a42087 100644
--- a/glomap/controllers/option_manager.cc
+++ b/glomap/controllers/option_manager.cc
@@ -197,6 +197,9 @@ void OptionManager::AddGlobalPositionerOptions() {
   AddAndRegisterDefaultOption(
       "GlobalPositioning.max_num_iterations",
       &mapper->opt_gp.solver_options.max_num_iterations);
+  AddAndRegisterDefaultOption(
+      "GlobalPositioning.function_tolerance",
+      &mapper->opt_gp.solver_options.function_tolerance);
 
   // TODO: move the constrain type selection here
 }
@@ -224,6 +227,9 @@ void OptionManager::AddBundleAdjusterOptions() {
   AddAndRegisterDefaultOption(
       "BundleAdjustment.max_num_iterations",
       &mapper->opt_ba.solver_options.max_num_iterations);
+  AddAndRegisterDefaultOption(
+      "BundleAdjustment.function_tolerance",
+      &mapper->opt_ba.solver_options.function_tolerance);
 }
 void OptionManager::AddTriangulatorOptions() {
   if (added_triangulation_options_) {