diff --git a/guilib/include/rtabmap/gui/MainWindow.h b/guilib/include/rtabmap/gui/MainWindow.h
index 5b74efae..718b4671 100644
--- a/guilib/include/rtabmap/gui/MainWindow.h
+++ b/guilib/include/rtabmap/gui/MainWindow.h
@@ -175,11 +175,13 @@ protected Q_SLOTS:
 	void selectK4A();
 	void selectRealSense();
 	void selectRealSense2();
+	void selectRealSense2i();
 	void selectRealSense2L515();
 	void selectRealSense2Stereo();
 	void selectStereoDC1394();
 	void selectStereoFlyCapture2();
 	void selectStereoZed();
+	void selectStereoZedi();
 	void selectStereoTara();
 	void selectStereoUsb();
 	void selectMyntEyeS();
diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
index c1911f94..167cfec7 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -436,10 +436,12 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
 	connect(_ui->actionRealSense_ZR300, SIGNAL(triggered()), this, SLOT(selectRealSense()));
 	connect(_ui->actionRealSense2_SR300, SIGNAL(triggered()), this, SLOT(selectRealSense2()));
 	connect(_ui->actionRealSense2_D400, SIGNAL(triggered()), this, SLOT(selectRealSense2()));
+	connect(_ui->actionRealSense2_IMU, SIGNAL(triggered()), this, SLOT(selectRealSense2i()));
 	connect(_ui->actionRealSense2_L515, SIGNAL(triggered()), this, SLOT(selectRealSense2L515()));
 	connect(_ui->actionStereoDC1394, SIGNAL(triggered()), this, SLOT(selectStereoDC1394()));
 	connect(_ui->actionStereoFlyCapture2, SIGNAL(triggered()), this, SLOT(selectStereoFlyCapture2()));
 	connect(_ui->actionStereoZed, SIGNAL(triggered()), this, SLOT(selectStereoZed()));
+	connect(_ui->actionZed_sdk_IMU, SIGNAL(triggered()), this, SLOT(selectStereoZedi()));
     connect(_ui->actionStereoTara, SIGNAL(triggered()), this, SLOT(selectStereoTara()));
 	connect(_ui->actionStereoUsb, SIGNAL(triggered()), this, SLOT(selectStereoUsb()));
 	connect(_ui->actionRealSense2_T265, SIGNAL(triggered()), this, SLOT(selectRealSense2Stereo()));
@@ -457,11 +459,13 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
 	_ui->actionRealSense_ZR300->setEnabled(CameraRealSense::available());
 	_ui->actionRealSense2_SR300->setEnabled(CameraRealSense2::available());
 	_ui->actionRealSense2_D400->setEnabled(CameraRealSense2::available());
+	_ui->actionRealSense2_IMU->setEnabled(CameraRealSense2::available());
 	_ui->actionRealSense2_L515->setEnabled(CameraRealSense2::available());
 	_ui->actionRealSense2_T265->setEnabled(CameraRealSense2::available());
 	_ui->actionStereoDC1394->setEnabled(CameraStereoDC1394::available());
 	_ui->actionStereoFlyCapture2->setEnabled(CameraStereoFlyCapture2::available());
 	_ui->actionStereoZed->setEnabled(CameraStereoZed::available());
+	_ui->actionZed_sdk_IMU->setEnabled(CameraStereoZed::available());
     _ui->actionStereoTara->setEnabled(CameraStereoTara::available());
     _ui->actionMYNT_EYE_S_SDK->setEnabled(CameraMyntEye::available());
 	this->updateSelectSourceMenu();
@@ -4730,10 +4734,12 @@ void MainWindow::updateSelectSourceMenu()
 	_ui->actionRealSense_ZR300->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense);
 	_ui->actionRealSense2_SR300->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense2);
 	_ui->actionRealSense2_D400->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense2);
+	_ui->actionRealSense2_IMU->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense2);
 	_ui->actionRealSense2_L515->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense2);
 	_ui->actionStereoDC1394->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDC1394);
 	_ui->actionStereoFlyCapture2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFlyCapture2);
 	_ui->actionStereoZed->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoZed);
+	_ui->actionZed_sdk_IMU->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoZed);
     _ui->actionStereoTara->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoTara);
 	_ui->actionStereoUsb->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoUsb);
 	_ui->actionRealSense2_T265->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoRealSense2);
@@ -6481,10 +6487,14 @@ void MainWindow::selectRealSense2()
 {
 	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcRealSense2);
 }
-void MainWindow::selectRealSense2L515()
+void MainWindow::selectRealSense2i()
 {
 	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcRealSense2, 1);
 }
+void MainWindow::selectRealSense2L515()
+{
+	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcRealSense2, 2);
+}
 
 void MainWindow::selectRealSense2Stereo()
 {
@@ -6504,6 +6514,10 @@ void MainWindow::selectStereoZed()
 {
 	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoZed);
 }
+void MainWindow::selectStereoZedi()
+{
+	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoZed, 1);
+}
 
 void MainWindow::selectStereoTara()
 {
diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp
index b42ae4f4..edece106 100644
--- a/guilib/src/PreferencesDialog.cpp
+++ b/guilib/src/PreferencesDialog.cpp
@@ -3723,13 +3723,22 @@ void PreferencesDialog::updateParameters(const ParametersMap & parameters, bool
 void PreferencesDialog::selectSourceDriver(Src src, int variant)
 {
 	_ui->comboBox_imuFilter_strategy->setCurrentIndex(0);
-	this->setParameter(Parameters::kOptimizerGravitySigma(), uNumber2Str(Parameters::defaultOptimizerGravitySigma()));
+	this->setParameter(Parameters::kOptimizerGravitySigma(), "0.0");
 
 	if(src >= kSrcRGBD && src<kSrcStereo)
 	{
 		_ui->comboBox_sourceType->setCurrentIndex(0);
 		_ui->comboBox_cameraRGBD->setCurrentIndex(src - kSrcRGBD);
-		if(src == kSrcOpenNI_PCL)
+		if(src == kSrcFreenect)
+		{
+			if(Optimizer::isAvailable(Optimizer::kTypeG2O) || Optimizer::isAvailable(Optimizer::kTypeGTSAM))
+			{
+				// enable IMU
+				_ui->comboBox_imuFilter_strategy->setCurrentIndex(1);
+				this->setParameter(Parameters::kOptimizerGravitySigma(), "0.3");
+			}
+		}
+		else if(src == kSrcOpenNI_PCL)
 		{
 			_ui->lineEdit_openniOniPath->clear();
 		}
@@ -3749,7 +3758,7 @@ void PreferencesDialog::selectSourceDriver(Src src, int variant)
 		}
 		else if (src == kSrcRealSense2)
 		{
-			if(variant > 0) // L515
+			if(variant > 1) // L515
 			{
 				_ui->spinBox_rs2_width->setValue(1280);
 				_ui->spinBox_rs2_height->setValue(720);
@@ -3761,7 +3770,7 @@ void PreferencesDialog::selectSourceDriver(Src src, int variant)
 				_ui->spinBox_rs2_height->setValue(480);
 				_ui->spinBox_rs2_rate->setValue(60);
 			}
-			if(Optimizer::isAvailable(Optimizer::kTypeG2O) || Optimizer::isAvailable(Optimizer::kTypeGTSAM))
+			if(variant>0 && (Optimizer::isAvailable(Optimizer::kTypeG2O) || Optimizer::isAvailable(Optimizer::kTypeGTSAM)))
 			{
 				// enable IMU
 				_ui->comboBox_imuFilter_strategy->setCurrentIndex(1);
@@ -3775,7 +3784,7 @@ void PreferencesDialog::selectSourceDriver(Src src, int variant)
 		_ui->comboBox_cameraStereo->setCurrentIndex(src - kSrcStereo);
 		if(Optimizer::isAvailable(Optimizer::kTypeG2O) || Optimizer::isAvailable(Optimizer::kTypeGTSAM))
 		{
-			if(src == kSrcStereoZed) // Zedm, Zed2
+			if(src == kSrcStereoZed && variant>0) // Zedm, Zed2
 			{
 				// enable IMU (zed sends already quaternion)
 				_ui->comboBox_imuFilter_strategy->setCurrentIndex(0);
diff --git a/guilib/src/ui/mainWindow.ui b/guilib/src/ui/mainWindow.ui
index 7d775c96..7e8714a1 100644
--- a/guilib/src/ui/mainWindow.ui
+++ b/guilib/src/ui/mainWindow.ui
@@ -207,6 +207,7 @@
          <normaloff>:/images/d435.png</normaloff>:/images/d435.png</iconset>
        </property>
        <addaction name="actionRealSense2_D400"/>
+       <addaction name="actionRealSense2_IMU"/>
       </widget>
       <widget class="QMenu" name="menuRealSense_SR300">
        <property name="title">
@@ -267,6 +268,7 @@
          <normaloff>:/images/zed.png</normaloff>:/images/zed.png</iconset>
        </property>
        <addaction name="actionStereoZed"/>
+       <addaction name="actionZed_sdk_IMU"/>
        <addaction name="actionStereoUsb"/>
       </widget>
       <widget class="QMenu" name="menuTara_Camera">
@@ -1617,6 +1619,22 @@
     <string>RealSense2</string>
    </property>
   </action>
+  <action name="actionZed_sdk_IMU">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Zed sdk (Zedm, Zed2)</string>
+   </property>
+  </action>
+  <action name="actionRealSense2_IMU">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>RealSense2 (D435i)</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>