Tracking & Filter Parameters - DWE.ai

Stick to the default parameters for the best out-of-the-box experience. Manual tuning is entirely optional and reserved for advanced performance optimization.

Filter Parameters

A filter is used to ensure uniform point distribution in the resulting point cloud. The following filter settings can be configured.

VSLAM Filter Settings

Parameter	What it does
Min Depth (m)	Points closer than this threshold will be ignored.
Max Depth (m)	Points further than this threshold will be ignored. Increase this if the object you are mapping is far away. Decrease if you are seeing inaccuracies / a blue tint on the reconstructed model.
Min Points per Voxel	Minimum number of points required within a single voxel to produce a visible point in the output cloud
Leaf Size (cm)	Size in centimeters of a voxel. Lowering this value will increase detail at the cost of memory consumption. Sizes less than 2cm should only be used on small maps.
Loop Closure Throttle Speed (ms)	Minimum allowed time between loop closures. Lower is more accurate, but slower.
Key frame throttle distance (m)	Minimum distance between consecutive keyframes’ centroids.