Merging maps when recently lost or recolalization has been recently

[Narek-939]

I have tried to merge maps, and noticed that when algorithm loses points, has been calling resetActiveMap function and after all I can save only last map which initialized with createInitialMonocularMap, after these I got that this part or working not correctly or I dont get anythink in this code please explin me this part or help to change this code to get whole map to save, I work on Raspberry pi 4 model b with 8 gb ram, and have written wrapper on Orbslam3

I will be glad to get this part of code,

    Sophus::SE3f Tcw;
    vector<bool> vbTriangulated; // Triangulated Correspondences (mvIniMatches)
    if(mpCamera->ReconstructWithTwoViews(mInitialFrame.mvKeysUn,mCurrentFrame.mvKeysUn,mvIniMatches,Tcw,mvIniP3D,vbTriangulated))
    {
        for(size_t i=0, iend=mvIniMatches.size(); i<iend;i++)
        {
            if(mvIniMatches[i]>=0 && !vbTriangulated[i])
            {
                mvIniMatches[i]=-1;
                nmatches--;
            }
        }

        // Set Frame Poses
        //std::cout << Sophus::SE3f() << std::endl << latest_pose << std::endl;
        //mInitialFrame.SetPose(Sophus::SE3f());
        mCurrentFrame.SetPose(Tcw);
        //mCurrentFrame.SetPose(mInitialFrame.GetPose() * Tcw);

        CreateInitialMapMonocular();/////////////////////////// erkrordy kanchvum e sa /////////////////////////////////////////////
    }