diff --git a/interfaces/api/pointCloud/IPCProjectOntoImage.h b/interfaces/api/pointCloud/IPCProjectOntoImage.h
index 2fb984b8..44376c9c 100644
--- a/interfaces/api/pointCloud/IPCProjectOntoImage.h
+++ b/interfaces/api/pointCloud/IPCProjectOntoImage.h
@@ -52,6 +52,17 @@ class XPCF_IGNORE IPCProjectOntoImage : virtual public org::bcom::xpcf::ICompone
                                        const SolAR::datastructure::Transform3Df& pose,
                                        SRef<SolAR::datastructure::Image>& image) const = 0;
 
+   /// @brief Project a list of cloud points onto an image plane
+   /// @param[in] points the list of cloud points
+   /// @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(const std::vector<SRef<SolAR::datastructure::CloudPoint>>& points,
+                                       SRef<SolAR::datastructure::CameraParameters> cameraParameters,
+                                       const SolAR::datastructure::Transform3Df& pose,
+                                       SRef<SolAR::datastructure::Image>& image) const = 0;
+
 };
 }
 }
diff --git a/interfaces/api/pointCloud/IPCSemanticFrom2D.h b/interfaces/api/pointCloud/IPCSemanticFrom2D.h
index 37cbafd3..66b93a7f 100644
--- a/interfaces/api/pointCloud/IPCSemanticFrom2D.h
+++ b/interfaces/api/pointCloud/IPCSemanticFrom2D.h
@@ -29,6 +29,16 @@ namespace SolAR {
 namespace api {
 namespace pointCloud {
 
+/**
+ * @struct SemanticId
+ * @brief struct used to represent semantic Id of a cloud point
+ */
+struct SemanticId {
+    SemanticId(int16_t i, float conf) : id(i), confidence(conf) {}
+    int16_t id;
+    float confidence;
+};
+
 /**
   * @class IPCSemanticFrom2D
   * @brief <B>Estimate semantic Ids of cloud points from 2D information.</B>
@@ -53,6 +63,19 @@ class XPCF_IGNORE IPCSemanticFrom2D : virtual public org::bcom::xpcf::IComponent
                                         SRef<SolAR::datastructure::KeyframeCollection> keyframeCollection,
                                         SRef<SolAR::datastructure::CameraParametersCollection> cameraParametersCollection,
                                         SRef<SolAR::datastructure::Mask2DCollection> maskCollection) const = 0;
+  
+   /// @brief Estimate point cloud semantic Ids from a keyframe collection and a mask collection
+   /// @param[in] points list of cloud points
+   /// @param[in] keyframeCollection input list of keyframes
+   /// @param[in] cameraParametersCollection input list of camera parameters
+   /// @param[in] maskCollection input list of masks
+   /// @param[out] semanticIds the estimated possible semantic ids for each input cloud point
+   /// @return FrameworkReturnCode::_SUCCESS (semantic id estimated successfully) otherwise FrameworkReturnCode::_ERROR_ (failure)
+   virtual FrameworkReturnCode estimate(const std::vector<SRef<SolAR::datastructure::CloudPoint>>& points,
+                                        SRef<SolAR::datastructure::KeyframeCollection> keyframeCollection,
+                                        SRef<SolAR::datastructure::CameraParametersCollection> cameraParametersCollection,
+                                        SRef<SolAR::datastructure::Mask2DCollection> maskCollection,
+                                        std::vector<std::vector<SemanticId>>& semanticIds) const = 0;
 
 };
 }