In this document, you can find a couple of diagram sketches that provide an overview of the main workflow, system components, and classes relationships/dependencies.
Note: You might be wondering why I used Processes instead of Threads in some cases. The reason is that, at least in Python 3.8 (the version supporting pySLAM), only one thread can execute at a time within a single process due to the Global Interpreter Lock (GIL). On the other hand, using multiprocessing (separate processes that do not share the GIL) enables better parallelism. See this nice post.
