Somehow related: I’ve looked into PTAM to achieve this. More precisely into this GitHub - williammc/ptam_plus: PTAM (Parallel Tracking and Mapping) re-released under GPLv3.
And compiled it to JS using Emscripten. Now I would need to write JS bindings and see if it works.
There is also the start of a JS implementation here: GitHub - hitsthings/ptamjs: WIP!! Doesn't work yet (WIP and not functional)
Would be great to push forward on this
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