the IMU with standalone version won't work for dataset images source without odometry approach supporting async imu (Odometry::kTypeOkvis, Odometry::kTypeMSCKF, Odometry::kTypeVINS, Odometry::kTypeOpenVINS).
However, I just updated
the code to be able to do that with default odom F2M approach. If you can rebuild latest from source or use latest artifact
(windows), here the params I used:
To generate the calibration yaml file, you can use rtabmap-euroc_dataset tool.