Use IMU in RTABMap Standalone GUI

[hand123]

Hello,
I am new to using RTABMap. I want to use IMU information in the RTABMap GUI Version 0.20.16. Threfore I am looking at the Euroc dataset and set the corresponding path in the GUI Preferences under the Option 'Source'->'Path to file containing optional IMU data (*.csv [EuRoC format]).' When I start the Algorithm, I get the following message "IMU path is set but odometry chosen doesn't support asynchronous IMU, ignoring IMU...". How can I synchronize the IMU information in the RTABMap GUI for the Euroc dataset? Or is there another way to configure the GUI to use IMU information?
Thank you.

[matlabbe]

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:



To generate the calibration yaml file, you can use rtabmap-euroc_dataset tool.



cheers,
Mathieu

[hand123]

Great. Thank you!