Is NextDepth[i] updated?

[ryohachiuma]

Hi, thank you so much for sharing the code!
I have a question about your code.
In RGBDOdometry.cpp,
lastDepth[i] and nextDepth[i] are updated with

verticesToDepth(vmaps_tmp, destDepths[0], maxDepthRGB);

function which is called from initRGBModel or initRGB function, right?

However, vmaps_tmp is updated in only initICPModel function and not in initICP function, which means vmaps_tmp contains only the vertex information of the projected global model.
That means, both of the lastDepth[i] and nextDepth[i] contains the same information?

Thank you in advance!