I am happy to release the code of my project PLVS. PLVS is a real-time system that leverages sparse RGB-D and Stereo SLAM, volumetric mapping, and 3D unsupervised incremental segmentation. PLVS stands for Points, Lines, Volumetric mapping, and Segmentation. You can find further details on this page.
New features: https://github.com/luigifreda/plvs/blob/master/new_features.md
This is my related post on Linkedin: