Minimum inliers - Where to set this option?

[nufanDK2]

I have a quick question. I'm trying to add a loop closure manually through the database editor, but I only have 12 inliers and it is set to need a minimum of 20 inliers.
On the ZenFone AR I can find the option to change the minimum required inliers but where is the option in either the standalone desktop version or how do I change it in the database editor?

Thank you in advance for any help. I just can't seem to find it in the options and it's driving me crazy.

[matlabbe]

Hi,

In DatabaseViewer, open Core Parameters view, then select Vis in the dropdown box:


In RTAB-Map->Preferences (Advanced checked), go in Visual Registration section:


cheers,
Mathieu

[nufanDK2]

Wow that's was quick! And great! That should fix it for me :-)
Thank you so much for the help. And for the great work you're doing. RTAB-Map just keeps amazing me :-)