Hi,
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:
![](http://official-rtab-map-forum.206.s1.nabble.com/file/n9412/Screenshot_from_2023-04-16_17-37-50.png)
![](http://official-rtab-map-forum.206.s1.nabble.com/file/n9412/Screenshot_from_2023-04-16_17-38-07.png)
![](http://official-rtab-map-forum.206.s1.nabble.com/file/n9412/Screenshot_from_2023-04-16_17-38-19.png)
To generate the calibration yaml file, you can use rtabmap-euroc_dataset tool.
![](http://official-rtab-map-forum.206.s1.nabble.com/file/n9412/Screenshot_from_2023-04-16_17-44-03.png)
cheers,
Mathieu