Hi,
In latest rtabmap version, the dual mode has been generalized to other sensors, like ZED. There is now a Odometry Sensor option:
![](http://official-rtab-map-forum.206.s1.nabble.com/file/n8613/Screenshot_from_2021-09-28_18-28-44.jpg)
The "Calibrate Extrinsics" button can be used for convenience to compute the transform between the cameras.
cheers,
Mathieu