Feasibility of online referencing, realtime performance evaluation

Thank you team for the great job.
I've experienced the source code with video input.
So far, I've seen that the model doesn't produce point clouds while the camera trajectory keeps being displayed.
What should I configure for a better result? Most of the cases I test are indoor scenes.
Second, is it possible to reference input with streaming and can model process and output in real-time?
I see the project page showing SLAM application. How can I experience that? Or it would be great if you could give me some guidelines
Thank you so much!