Database viewer

rtabmap/bin$ ./rtabmap-databaseViewer /home/q/tmpdb/RGB-D_ORBSLAM2.db 

Odometry viewer

./rtabmap-odometryViewer -hz 10 -db  /home/q/tmpdb/RGB-D_ORBSLAM2.db 
 -bow 0 -clouds 0

./rtabmap-odometryViewer -hz 10 -db  /home/q/tmpdb/RGB-D_ORBSLAM2.db 
 -bow 1 -clouds 0

./rtabmap-odometryViewer -hz 10 -db  /home/q/tmpdb/RGB-D_ORBSLAM2.db 
 -bin -clouds 0 -in 0.005 -bin_brief_bytes 64

./rtabmap-odometryViewer -hz 10 -db  /home/q/tmpdb/RGB-D_ORBSLAM2.db 
 -icp -in 0.04 -v 0.02 -clouds 0 -f 1 -i 30

Data recorder

rtabmap-dataRecorder
Usage:
dataRecorder [options] output.db
Options:
-hide Don’t display the current cloud recorded.
-debug Set debug level for the logger.
-rate #.# Input rate Hz (default 0=inf)
-openni Use openni camera instead of the usb camera.

官方教程：https://github.com/introlab/rtabmap/wiki/Tools