The problem with the output images is that they are not synchronized. For the rosbag, I cannot find any documentation on the format of those messages (tango_msgs/TangoSensorEvent):
rosbag info 0001.bag
duration: 5:33s (333s)
start: Dec 31 1969 20:34:31.35 (16471.35)
end: Dec 31 1969 20:40:05.01 (16805.01)
size: 185.3 MB
compression: none [239/239 chunks]
types: tango_msgs/TangoFeaturesV7 [334b663c5530c2538689c54c4b9a38a6]
topics: features/data 3335 msgs : tango_msgs/TangoFeaturesV7
sensor/data 134791 msgs : tango_msgs/TangoSensorEvent
If you want to scan large environments, I don't recommend 4 Hz (unless you are in recorder mode), use default 1 Hz otherwise you would be using a lot of CPU. On my Phab2Pro, it takes around 200 ms per update when there is no loop closure detected (see Debug view). If you set to 4 Hz, it means that the CPU will be used almost at 100%. At 1 Hz, CPU would be used at 20/25% in average, thus less battery consumption. You may use Third person view to save rendering time, also disable Blending.
For the accuracy of the pose, it should be the same as google constructor, RTAB-Map is using Tango API to get the pose. If there is a drift, it is from Tango, not RTAB-Map. On Google Constructor, it also drifts sometimes.