How can I edit the code to apply mapping to all points (include outliers), rather than just the corners and surf?

[ghangminyun]

Hello,

I'm trying to edit the four cpp codes to apply mapping to all points, not just the corners and surface.

I believe I need to make edits to the 'mapOptimization.cpp', by adding the mapping code for outlier points as what you already have done to corner and surf. I wonder if it is right way, or there are more effective ways.

I really appreciate for your help.