Intended to run on any GPU on any OS. It uses OpenCV to load images, but all processing in directly in OpenCL.

This project is implementing a passive visual dense monocular deformable SLAM code.

Passive : no active depth sensor required
Visual: based on rgb video images as the input
Dense: reconstructs 3D depth at every pixel
Monocular: requires only one camera
Deformable: handles scenes where objects move and change shape - e.g. people, animals, soft materials and fluids
SLAM: simultaneous location and mapping aka structure from motion.

The road map for the project includes (i) auto-calibration of the camera and algorithm parameters, (ii) integrating single image shape, illumination and reflectance modelling.

Use cases:
1) Visual perception for robotic manipulation and autonomous vehicles
2) Computer Graphics models from live action video for reality capture and VFX.