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

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.