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But we could easily deal with it by adding a `bool frozen=false` to the function arguments.\r\n\r\nI think whenever they are read from a .pbstream file they should be frozen.\r\n\r\nWe could also think about what should happen to the landmarks when  `freezeTrajectory(..)` is called. Personally, since landmarks are not directly associated to a trajectory, I think this call should not affect the landmarks.\r\n\r\nIf somebody ever needs to freeze individual landmarks a method `freezeLandmark(..)` should be implemented.","created_at":"2019-01-02T10:06:02Z","updated_at":"2019-01-02T10:06:02Z","html_url":"https://github.com/googlecartographer/cartographer/pull/1475#discussion_r244697000","pull_request_url":"https://api.github.com/repos/googlecartographer/cartographer/pulls/1475","author_association":"NONE","_links":{"self":{"href":"https://api.github.com/repos/googlecartographer/cartographer/pulls/comments/244697000"},"html":{"href":"https://github.com/googlecartographer/cartographer/pull/1475#discussion_r244697000"},"pull_request":{"href":"https://api.github.com/repos/googlecartographer/cartographer/pulls/1475"}},"in_reply_to_id":244693967},"pull_request":{"url":"https://api.github.com/repos/googlecartographer/cartographer/pulls/1475","id":236598838,"node_id":"MDExOlB1bGxSZXF1ZXN0MjM2NTk4ODM4","html_url":"https://github.com/googlecartographer/cartographer/pull/1475","diff_url":"https://github.com/googlecartographer/cartographer/pull/1475.diff","patch_url":"https://github.com/googlecartographer/cartographer/pull/1475.patch","issue_url":"https://api.github.com/repos/googlecartographer/cartographer/issues/1475","number":1475,"state":"open","locked":false,"title":"Allow introduction of new landmarks into loaded (frozen) map","user":{"login":"johuber","id":6849283,"node_id":"MDQ6VXNlcjY4NDkyODM=","avatar_url":"https://avatars3.githubusercontent.com/u/6849283?v=4","gravatar_id":"","url":"https://api.github.com/users/johuber","html_url":"https://github.com/johuber","followers_url":"https://api.github.com/users/johuber/followers","following_url":"https://api.github.com/users/johuber/following{/other_user}","gists_url":"https://api.github.com/users/johuber/gists{/gist_id}","starred_url":"https://api.github.com/users/johuber/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/johuber/subscriptions","organizations_url":"https://api.github.com/users/johuber/orgs","repos_url":"https://api.github.com/users/johuber/repos","events_url":"https://api.github.com/users/johuber/events{/privacy}","received_events_url":"https://api.github.com/users/johuber/received_events","type":"User","site_admin":false},"body":"In the current implementation, as soon as one trajectory is frozen it is not possible to use new landmarks anymore.\r\nIn this PR a suggest a change, that allows introducing new landmarks also in the presence of a frozen trajectory. This is done with the following steps:\r\n- Store set of frozen landmarks\r\n- Landmarks that are loaded from a pbstream, with the flag ` load_frozen_state=true` are inserted into the set of frozen landmarks via `setLandmarkPose` function\r\n- frozen landmarks are set constant in the optimization problem\r\n- new landmarks can be introduced and will be optimized in the optimization problem\r\n\r\nMotivated by and closes #1470 ","created_at":"2018-12-06T16:49:12Z","updated_at":"2019-01-02T10:06:02Z","closed_at":null,"merged_at":null,"merge_commit_sha":"ead66f63d425a0dfe057c36c77496ee3634619aa","assignee":null,"assignees":[],"requested_reviewers":[],"requested_teams":[],"labels":[{"id":418020229,"node_id":"MDU6TGFiZWw0MTgwMjAyMjk=","url":"https://api.github.com/repos/googlecartographer/cartographer/labels/cla:%20yes","name":"cla: 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