SDK Structure

The SDK could be installed to a arbitrary location. Just run the install script under the SDK directory.

The SDK files contain following directories:

apps/ MYNT EYE camera demo apps source code
- 3rdparty/ Apps dependencies
bin/ Windows dlls files required by Windows SDK
doc/ Documentations and licences
- api/ API documentation on Web format
- license/ Licenses of the SDK and its third-parties
deps/ OpenCV dependencies required by Windows SDK
include/ C/C++ header files
lib/ Libraries files required to link with the SDK (".so" on Linux, ".dylib" on macOS and ".lib" on Windows)
- 3rdparty/ Libraries dependencies
samples/ Samples source codes about how to use SDK
tools/ MYNT EYE camera binary executables tools
install.sh Install script to configure the SDK ("install.bat" on Windows)
README Readme about how to get started with your MYNT EYE

Please read the README file or the Getting Started section to get started with application development.

IMU Introduction

IMU has 3-axis accelerometer and 3-axis gyroscope to detect linear acceleration and rotational rate.

IMU sampling rate is 250 Hz.

IMU Axis

Right-handed coordinate system, RUB (right-up-back).

IMU Rotation matrix (rotate 90° around the z-axis):

[0, -1, 0,
 1,  0, 0,
 0,  0, 1]

Translation vector from camera to IMU (in meter):

	Translation
Camera Left	[ 0.07608, -0.00312, -0.01464]
Camera Right	[-0.04392, -0.00312, -0.01464]

The value of z-axis is from the center of the lens to the board. The deviation maybe ±0.25mm because of the difference in focal length.

	Noise Density	Random Walk
Accelerometer	7.6509e-02	5.3271e-02
Gyroscope	9.0086e-03	5.5379e-05

3D models are stored in 3dmodel directory of our online disks: Google Drive, 百度网盘.