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Updated Change parameters (markdown)

matlabbe
2014-11-23 16:31:14 -08:00
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Change-parameters.md
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I will show in this page how we can speed-up RTAB-Map for small environments and computers with less computing power. This example will also use only codes under the *BSD License*, so without SIFT or SURF here.
The referred configuration can be downloaded here: [[doc/Tutorials/SpeedUp/config.ini]]. You must have at least RTAB-Map 0.7. You can load this configuration file in RTAB-Map with the Preferences->General settings (GUI)->"Load settings..." button or see the screenshots below to adjust the parameters manually. **Important**: This configuration may use different descriptors (size/type) from your actual configuration. If you have already created a database, you must delete it first (Edit -> Delete memory) to start with a clean database, or you will have an error like this:
The referred configuration can be downloaded here: [config.ini](https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/SpeedUp/config.ini). You must have at least RTAB-Map 0.7. You can load this configuration file in RTAB-Map with the Preferences->General settings (GUI)->"Load settings..." button or see the screenshots below to adjust the parameters manually. **Important**: This configuration may use different descriptors (size/type) from your actual configuration. If you have already created a database, you must delete it first (Edit -> Delete memory) to start with a clean database, or you will have an error like this:
```
[ERROR] (2014-10-02 15:01:07) VWDictionary.cpp:399::rtabmap::VWDictionary::addNewWords() Descriptors (size=16) are not the same size as already added words in dictionary(size=64)