Q: VSLAM is running. Why isn’t a point cloud being generated?
A: VSLAM only builds a point cloud while it is visually tracking a scene. To start tracking, move the camera to within 1–2 m of a textured surface.
Why this changed in VSLAM 1.6: Earlier versions started tracking from further away, but tracking at that range was unreliable. VSLAM 1.6 tightens the tracking limits so the map it builds is more accurate and the system performs better.