Using a the feature-based map of a nominal keyframe-based SLAM system as an input, this software creates a very fast mesh-representation of the scene, while filtering out aparently erroneous mesh facades. This has been reported to run at 8ms per frame on a standard laptop (CPU only). This software is released under a GPLv3 (free for research purposes) and can be accessed here. On the same page, you can also access the V4RL Aerial Inspection Dataset that you could try this software on.
Users of this software are asked to cite the following paper, where it was introduced:
Lucas Teixeira and Margarita Chli, "Real-Time Mesh-based Scene Estimation for Aerial Inspection", in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016. DOI E-citations