In this document, you will find some diagram sketches that provide an overview of the main workflow, system components, and class relationships/dependencies. To make the diagrams more readable, some minor components and arrows have been omitted.
Note: In some case, I used Processes instead of Threads because in Python 3.8 (used by pySLAM) the Global Interpreter Lock (GIL) allows only one thread can execute at a time within a single process. Multiprocessing avoids this limitation and enables better parallelism, though it involves data duplication via pickling. See this nice post.
