I have rewritten dtam by visual studio 2015, based on anuranbaka's code, with opencl and opencv3.0. But the result is poor. I'd like to share my code, and wish somebody could point out the wrong parts.

I'd like to share my code, and wish somebody could point out the wrong codes. Here's my codes link:
https://github.com/411066282/dtam-opencl-implemention
I have rewritten dtam by visual studio 2015, based on anuranbaka's code, with opencl and opencv3.0. But the result is poor. I'd like to share my code, and wish somebody could point out the wrong parts.
I'd like to share my code, and wish somebody could point out the wrong codes. Here's my codes link:
https://github.com/411066282/dtam-opencl-implemention