Fix mapping / map update / bootstrap

interfaces/api/loop/ILoopCorrector.h

@@ -66,13 +66,15 @@ class XPCF_CLIENTUUID("51f449f8-c9df-4c3a-ac57-7ca95debfdbc") XPCF_SERVERUUID("7
     /// @param[in] duplicatedPointsIndices: indices of duplicated cloud points.
     /// The first index is the id of point cloud seen from the detected loop keyframe.
     /// The second one is id of point cloud seen from the query keyframe
-    /// @param[out] correctedKeyframeIds: list of corrected keyframes' IDs (of which pose has been modified in the method) 
+    /// @param[out] correctedKeyframeIds: list of corrected keyframes' IDs (of which pose has been modified in the method)
+    /// @param[out] correctedCloudpointIds: list of corrected cloud points' IDs (of which spatial coordinates has been modified in the method) 
     /// @return FrameworkReturnCode::_SUCCESS if loop closure is correctly corrected, else FrameworkReturnCode::_ERROR_
     virtual FrameworkReturnCode correct(const SRef<SolAR::datastructure::Keyframe> queryKeyframe,
                                         const SRef<SolAR::datastructure::Keyframe> detectedLoopKeyframe,
                                         const SolAR::datastructure::Transform3Df & S_wl_wc,
                                         const std::vector<std::pair<uint32_t, uint32_t>> & duplicatedPointsIndices,
-                                        std::vector<uint32_t>& correctedKeyframeIds) = 0;
+                                        std::vector<uint32_t>& correctedKeyframeIds, 
+                                        std::vector<uint32_t>& correctedCloudpointIds) = 0;
 
 };
 }

interfaces/datastructure/CloudPoint.h

@@ -273,6 +273,16 @@ class  SOLARFRAMEWORK_API CloudPoint : public Point3Df, public PrimitiveInformat
 	/// @return true if remove successfully
 	bool removeVisibility(const uint32_t& keyframe_id);
 
+    ///
+    /// @brief set whether the cloud point has fixed spatial position or not  
+    /// @param[in] isPositionFixed: boolean, if true the cloudpoint has fixed spatial coordinates X/Y/Z
+    void setPositionFixed(bool isPositionFixed);
+
+    ///
+    /// @brief is cloud point has fixed position 
+    /// @return boolean, true if has fixed spatial position, false if not 
+    bool isPositionFixed() const;
+
 private:
 	friend class boost::serialization::access;
     template <typename Archive>
@@ -286,6 +296,7 @@ class  SOLARFRAMEWORK_API CloudPoint : public Point3Df, public PrimitiveInformat
     Vector3f								m_rgb = {0.0, 0.0, 0.0};
     Vector3f								m_viewDirection = {0.0, 0.0, 0.0};
     double                                  m_reproj_error = 0.0;
+    bool                                    m_isPositionFixed = false; // fixed spatial position (fixed spatial coordinates x y z)
 };
 
 DECLARESERIALIZE(CloudPoint);

src/datastructure/CloudPoint.cpp

@@ -163,6 +163,16 @@ bool CloudPoint::removeVisibility(const uint32_t& keyframe_id)
 	}
 }
 
+void CloudPoint::setPositionFixed(bool isPositionFixed)
+{
+    m_isPositionFixed = isPositionFixed;
+}
+
+bool CloudPoint::isPositionFixed() const 
+{
+    return m_isPositionFixed;
+}
+
 template <typename Archive>
 void CloudPoint::serialize(Archive &ar, const unsigned int /* version */)
 {