Add several interfaces about point cloud etc

SolARFramework.pri

@@ -50,6 +50,7 @@ interfaces/api/input/devices/IDevice.h \
 interfaces/api/input/devices/IIMU.h \
 interfaces/api/input/devices/IRGBDCamera.h \
 interfaces/api/input/devices/IStereoCameraCalibration.h \
+interfaces/api/input/files/IKeyframeLoader.h \
 interfaces/api/input/files/IMapLoader.h \
 interfaces/api/input/files/IMeshLoader.h \
 interfaces/api/input/files/IPointCloudLoader.h \
@@ -71,6 +72,8 @@ interfaces/api/pipeline/IMapProcessingPipeline.h \
 interfaces/api/pipeline/IRelocalizationTrackablePipeline.h \
 interfaces/api/pointCloud/IPCFilter.h \
 interfaces/api/pointCloud/IPCFilterCentroid.h \
+interfaces/api/pointCloud/IPCProjectOntoImage.h \
+interfaces/api/pointCloud/IPCSemanticFrom2D.h \
 interfaces/api/reloc/IKeyframeRetriever.h \
 interfaces/api/reloc/IRelocalizer.h \
 interfaces/api/reloc/IRegression.h \

interfaces/api/input/files/IKeyframeLoader.h

@@ -0,0 +1,68 @@
+/**
+ * @copyright Copyright (c) 2026 B-com http://www.b-com.com/
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef SOLAR_IKEYFRAMELOADER_H
+#define SOLAR_IKEYFRAMELOADER_H
+
+#include "datastructure/CameraParametersCollection.h"
+#include "datastructure/KeyframeCollection.h"
+#include <optional>
+#include <xpcf/api/IComponentIntrospect.h>
+
+namespace SolAR {
+namespace api {
+namespace input {
+namespace files {
+
+/**
+ * @class IKeyframeLoader
+ * @brief <B>Load a keyframe collection from file.</B>
+ * <TT>UUID: 2d1d125c-6bd2-4e2c-af76-f58910cb7791</TT>
+ *
+ */
+class XPCF_IGNORE IKeyframeLoader : virtual public org::bcom::xpcf::IComponentIntrospect {
+public:
+    /// @brief default constructor
+    IKeyframeLoader() = default;
+
+    /// @brief default destructor
+    virtual ~IKeyframeLoader() = default;
+
+    /// @brief Load a keyframe collection from file
+    /// @param[out] keyframeCollection the loaded keyframe collection (camera ID is set to 0)
+    /// @return FrameworkReturnCode::_SUCCESS if load succeeded, else FrameworkReturnCode::_ERROR_
+    virtual FrameworkReturnCode load(SRef<SolAR::datastructure::KeyframeCollection>& keyframeCollection) = 0;
+
+    /// @brief Load a keyframe collection and a camera parameters collection from file
+    /// @param[out] keyframeCollection the loaded keyframe collection
+    /// @param[out] cameraParametersCollection the loaded camera parameters collection
+    /// @return FrameworkReturnCode::_SUCCESS if load succeeded, else FrameworkReturnCode::_ERROR_
+    virtual FrameworkReturnCode load(SRef<SolAR::datastructure::KeyframeCollection>& keyframeCollection,
+                                     SRef<SolAR::datastructure::CameraParametersCollection>& cameraParametersCollection) = 0;
+};
+
+}
+}
+}
+}
+
+XPCF_DEFINE_INTERFACE_TRAITS(SolAR::api::input::files::IKeyframeLoader,
+                             "2d1d125c-6bd2-4e2c-af76-f58910cb7791",
+                             "IKeyframeLoader",
+                             "Load a keyframe collection from file");
+
+
+#endif // SOLAR_IKEYFRAMELOADER_H

interfaces/api/input/files/IMapLoader.h

@@ -1,58 +1,58 @@
-/**
- * @copyright Copyright (c) 2024 B-com http://www.b-com.com/
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef SOLAR_IPOINTCLOUDLOADER_H
-#define SOLAR_IPOINTCLOUDLOADER_H
-
-#include <xpcf/api/IComponentIntrospect.h>
-#include <xpcf/core/helpers.h>
-#include "core/Messages.h"
-#include "datastructure/Map.h"
-
-namespace SolAR {
-namespace api {
-namespace input {
-namespace files {
-/**
- * @class IMapLoader
- * @brief <B>Loads a map from a file.</B>
- * <TT>UUID: 84dbbc4f-cc65-40ff-946d-7ed4999fb3a5</TT>
- *
- */
-class XPCF_IGNORE IMapLoader :
-    virtual public org::bcom::xpcf::IComponentIntrospect {
-public:
-    IMapLoader() = default;
-    virtual ~IMapLoader() = default;
-
-    /// @brief Load a Map from a filepath
-    /// @param[out] map the loaded map
-	/// @return FrameworkReturnCode::_SUCCESS if load succeed, else FrameworkReturnCode::_ERROR_
-    virtual FrameworkReturnCode load(SRef<SolAR::datastructure::Map> & map) = 0;
-};
-
-}
-}
-}
-}
-
-XPCF_DEFINE_INTERFACE_TRAITS(SolAR::api::input::files::IMapLoader,
-                             "84dbbc4f-cc65-40ff-946d-7ed4999fb3a5",
-                             "IMapLoader",
-                             "Load a map from a file");
-
-
-#endif // SOLAR_IPOINTCLOUDLOADER_H
+/**
+ * @copyright Copyright (c) 2024 B-com http://www.b-com.com/
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef SOLAR_IMAPLOADER_H
+#define SOLAR_IMAPLOADER_H
+
+#include <xpcf/api/IComponentIntrospect.h>
+#include <xpcf/core/helpers.h>
+#include "core/Messages.h"
+#include "datastructure/Map.h"
+
+namespace SolAR {
+namespace api {
+namespace input {
+namespace files {
+/**
+ * @class IMapLoader
+ * @brief <B>Loads a map from a file.</B>
+ * <TT>UUID: 84dbbc4f-cc65-40ff-946d-7ed4999fb3a5</TT>
+ *
+ */
+class XPCF_IGNORE IMapLoader :
+    virtual public org::bcom::xpcf::IComponentIntrospect {
+public:
+    IMapLoader() = default;
+    virtual ~IMapLoader() = default;
+
+    /// @brief Load a Map from a filepath
+    /// @param[out] map the loaded map
+	/// @return FrameworkReturnCode::_SUCCESS if load succeed, else FrameworkReturnCode::_ERROR_
+    virtual FrameworkReturnCode load(SRef<SolAR::datastructure::Map> & map) = 0;
+};
+
+}
+}
+}
+}
+
+XPCF_DEFINE_INTERFACE_TRAITS(SolAR::api::input::files::IMapLoader,
+                             "84dbbc4f-cc65-40ff-946d-7ed4999fb3a5",
+                             "IMapLoader",
+                             "Load a map from a file");
+
+
+#endif // SOLAR_IMAPLOADER_H

interfaces/api/pointCloud/IPCProjectOntoImage.h

@@ -0,0 +1,66 @@
+/**
+ * @copyright Copyright (c) 2026 B-com http://www.b-com.com/
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef SOLAR_IPCPROJECTONTOIMAGE_H
+#define SOLAR_IPCPROJECTONTOIMAGE_H
+
+#include "datastructure/CameraDefinitions.h"
+#include "datastructure/Image.h"
+#include "datastructure/PointCloud.h"
+#include <xpcf/api/IComponentIntrospect.h>
+#include <xpcf/core/helpers.h>
+
+namespace SolAR {
+namespace api {
+namespace pointCloud {
+
+/**
+  * @class IPCProjectOntoImage
+  * @brief <B>Project a point cloud onto image.</B>
+  * <TT>UUId: 3700812e-0af5-4968-b972-4fdc6d3d7371</TT>
+  */
+
+class XPCF_IGNORE IPCProjectOntoImage : virtual public org::bcom::xpcf::IComponentIntrospect {
+public:
+   /// @brief IPCProjectOntoImage default constructor
+   IPCProjectOntoImage() = default;
+
+   /// @brief IPCProjectOntoImage default destructor
+   virtual ~IPCProjectOntoImage() = default;
+
+   /// @brief Project a point cloud onto an image plane
+   /// @param[in] pointCloud the point cloud
+   /// @param[in] cameraParameters the camera parameters
+   /// @param[in] pose the camera pose
+   /// @param[out] image output image created from the point cloud
+   /// @return FrameworkReturnCode::_SUCCESS (pointcloud projected onto image successfully) otherwise FrameworkReturnCode::_ERROR_ (failure)
+   virtual FrameworkReturnCode project(SRef<SolAR::datastructure::PointCloud> pointCloud,
+                                       SRef<SolAR::datastructure::CameraParameters> cameraParameters,
+                                       const SolAR::datastructure::Transform3Df& pose,
+                                       SRef<SolAR::datastructure::Image>& image) const = 0;
+
+};
+}
+}
+}  // end of namespace Solar
+
+XPCF_DEFINE_INTERFACE_TRAITS(SolAR::api::pointCloud::IPCProjectOntoImage,
+                             "3700812e-0af5-4968-b972-4fdc6d3d7371",
+                             "IPCProjectOntoImage",
+                             "Interface for projecting a point cloud onto image");
+
+
+#endif // SOLAR_IPCPROJECTONTOIMAGE_H

interfaces/api/pointCloud/IPCSemanticFrom2D.h

@@ -0,0 +1,68 @@
+/**
+ * @copyright Copyright (c) 2026 B-com http://www.b-com.com/
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef SOLAR_IPCSEMANTICFROM2D_H
+#define SOLAR_IPCSEMANTICFROM2D_H
+
+#include "core/Messages.h"
+#include "datastructure/CameraParametersCollection.h"
+#include "datastructure/KeyframeCollection.h"
+#include "datastructure/Mask2DCollection.h"
+#include "datastructure/PointCloud.h"
+#include <xpcf/api/IComponentIntrospect.h>
+#include <xpcf/core/helpers.h>
+
+namespace SolAR {
+namespace api {
+namespace pointCloud {
+
+/**
+  * @class IPCSemanticFrom2D
+  * @brief <B>Estimate semantic Ids of cloud points from 2D information.</B>
+  * <TT>UUId: e7f67167-1512-4c1c-808a-adcfb606030e</TT>
+  */
+
+class XPCF_IGNORE IPCSemanticFrom2D : virtual public org::bcom::xpcf::IComponentIntrospect {
+public:
+   /// @brief IPCSemanticFrom2D default constructor
+   IPCSemanticFrom2D() = default;
+
+   /// @brief IPCSemanticFrom2D default destructor
+   virtual ~IPCSemanticFrom2D() = default;
+
+   /// @brief Estimate point cloud semantic Ids from a keyframe collection and a mask collection
+   /// @param[in,out] pointCloud the point cloud for which semantic Ids will be estimated
+   /// @param[in] keyframeCollection input list of keyframes
+   /// @param[in] cameraParametersCollection input list of camera parameters
+   /// @param[in] maskCollection input list of masks
+   /// @return FrameworkReturnCode::_SUCCESS (semantic id estimated successfully) otherwise FrameworkReturnCode::_ERROR_ (failure)
+   virtual FrameworkReturnCode estimate(SRef<SolAR::datastructure::PointCloud> pointCloud,
+                                        SRef<SolAR::datastructure::KeyframeCollection> keyframeCollection,
+                                        SRef<SolAR::datastructure::CameraParametersCollection> cameraParametersCollection,
+                                        SRef<SolAR::datastructure::Mask2DCollection> maskCollection) const = 0;
+
+};
+}
+}
+}  // end of namespace Solar
+
+XPCF_DEFINE_INTERFACE_TRAITS(SolAR::api::pointCloud::IPCSemanticFrom2D,
+                             "e7f67167-1512-4c1c-808a-adcfb606030e",
+                             "IPCSemanticFrom2D",
+                             "Interface for estimating semantic Ids of cloud points from 2D information");
+
+
+#endif // SOLAR_IPCSEMANTICFROM2D_H

interfaces/datastructure/KeyframeCollection.h

@@ -105,6 +105,10 @@ class  SOLARFRAMEWORK_API KeyframeCollection : public Lockable {
 	/// @return The number of keyframes
 	int getNbKeyframes() const;
 
+    /// @brief This method allows to get the number of keyframes having image data
+    /// @return The number of keyframes having image data
+    uint32_t getNbKeyframesHavingImage() const;
+
 private:
     /// @brief This method allows to make reference keyframes consistent 
     /// (e.g. this method can be called after having loaded a keyframe collection which may contain inconsistent ref keyframes)

interfaces/datastructure/Map.h

@@ -299,7 +299,7 @@ class  SOLARFRAMEWORK_API Map : public Trackable {
     SRef<CameraParametersCollection>                    m_cameraParametersCollection = org::bcom::xpcf::utils::make_shared<CameraParametersCollection>();
 
     std::string                                         m_version = SolAR::VERSION;                               // Version of the map (for compatibility)
-    datastructure::DescriptorType                       m_descriptorType = DescriptorType::AKAZE;                 // Type of descriptor used for the map
+    datastructure::DescriptorType                       m_descriptorType = DescriptorType::UNDEFINED;                 // Type of descriptor used for the map
     datastructure::GlobalDescriptorType                 m_globalDescriptorType = GlobalDescriptorType::UNDEFINED; // Type of global descriptor used for the map
     bool                                                m_embedKeyframeImages = false;                            // Indicate if keyframe images must be embedded in datastructure
 };

src/datastructure/KeyframeCollection.cpp

@@ -188,6 +188,17 @@ int KeyframeCollection::getNbKeyframes() const
 	return static_cast<int>(m_keyframes.size());
 }
 
+uint32_t KeyframeCollection::getNbKeyframesHavingImage() const
+{
+    uint32_t n = 0;
+    for (const auto& [id, keyframe] : m_keyframes) {
+        if (keyframe && keyframe->getView()) {
+            n++;
+        }
+    }
+    return n;
+}
+
 void KeyframeCollection::nextSerializationWithoutKeyframeImages()
 {
     for (const auto& [id, kf]: m_keyframes) {

src/datastructure/Map.cpp

@@ -98,6 +98,12 @@ void Map::setKeyframeCollection(const SRef<KeyframeCollection> keyframeCollectio
     // we use m_keyframesManager to access the keyframes and optimize their poses
     // the modifs on keyframes' poses will not be applied to the keyframe collection of m_map
     m_keyframeCollection = keyframeCollection;
+    if (!m_keyframeCollection) {
+        m_embedKeyframeImages = false;
+    }
+    else {
+        m_embedKeyframeImages = m_keyframeCollection->getNbKeyframesHavingImage() > 0;
+    }
 }
 
 const SRef<CovisibilityGraph> Map::getConstCovisibilityGraph() const