RGB-Depth Processing module

Contains a collection of depth processing algorithms:

Linemod 3D object recognition
Fast surface normals and 3D plane finding
3D visual odometry
KinectFusion

Note that the KinectFusion algorithm was patented and its use may be restricted by following (but not limited to) list of patents:

US20120196679A1 Real-Time Camera Tracking Using Depth Maps
US20120194644A1 Mobile Camera Localization Using Depth Maps
US20120194516A1 Three-Dimensional Environment Reconstruction
US8401225B2 Moving object segmentation using depth images

Since OpenCV's license imposes different restrictions on usage please consult a legal before using this algorithm any way.

That's why you need to set the OPENCV_ENABLE_NONFREE option in CMake to use KinectFusion.