diff --git a/config/mini_mynteye_stereo/left.yaml b/config/mini_mynteye_stereo/left.yaml
new file mode 100644
index 0000000..c1e2653
--- /dev/null
+++ b/config/mini_mynteye_stereo/left.yaml
@@ -0,0 +1,18 @@
+%YAML:1.0
+---
+model_type: MEI
+camera_name: camera
+image_width: 640
+image_height: 400
+mirror_parameters:
+   xi: 2.8609305623095298e+00
+distortion_parameters:
+   k1: -1.8414894292470001e+00
+   k2: -4.9342973641642773e+00
+   p1: 8.2494442886969100e-03
+   p2: 6.2206515825507245e-03
+projection_parameters:
+   gamma1: 1.7150226347046309e+03
+   gamma2: 1.7160263289666930e+03
+   u0: 3.2156180239118413e+02
+   v0: 1.7460085458463496e+02
diff --git a/config/mini_mynteye_stereo/mini_mynteye_stereo_imu.yaml b/config/mini_mynteye_stereo/mini_mynteye_stereo_imu.yaml
new file mode 100644
index 0000000..3da941a
--- /dev/null
+++ b/config/mini_mynteye_stereo/mini_mynteye_stereo_imu.yaml
@@ -0,0 +1,95 @@
+%YAML:1.0
+
+#common parameters
+#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam; 
+imu: 1         
+num_of_cam: 2  
+
+imu_topic: "/mynteye/imu/data_raw_processed"
+# imu_topic: "/dji_sdk_1/dji_sdk/imu"
+image0_topic: "/mynteye/left/image_raw"
+image1_topic: "/mynteye/right/image_raw"
+output_path: "/home/dji/swarm_log_lastest/"
+
+cam0_calib: "left.yaml"
+cam1_calib: "right.yaml"
+image_width: 640
+image_height: 400
+   
+
+# Extrinsic parameter between IMU and Camera.
+estimate_extrinsic: 1   # 0  Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
+                        # 1  Have an initial guess about extrinsic parameters. We will optimize around your initial guess.
+
+
+
+
+body_T_cam0: !!opencv-matrix
+   rows: 4
+   cols: 4
+   dt: d
+   data: [0, 0, 1, 0,
+         -1, 0, 0, 0.04,
+         0, -1, 0, 0, 
+         0., 0., 0., 1. ]
+
+body_T_cam1: !!opencv-matrix
+   rows: 4
+   cols: 4
+   dt: d
+   data: [0, 0, 1, 0,
+         -1, 0, 0, -0.04,
+         0, -1, 0, 0, 
+         0., 0., 0., 1. ]
+
+#Multiple thread support
+multiple_thread: 1
+#Gpu accleration support
+use_gpu: 1
+use_gpu_acc_flow: 1
+
+#feature traker paprameters
+max_cnt: 200            # max feature number in feature tracking
+min_dist: 30            # min distance between two features 
+freq: 10                # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image 
+F_threshold: 1.0        # ransac threshold (pixel)
+show_track: 0           # publish tracking image as topic
+flow_back: 1            # perform forward and backward optical flow to improve feature tracking accuracy
+
+#optimization parameters
+max_solver_time: 0.04  # max solver itration time (ms), to guarantee real time
+max_num_iterations: 8   # max solver itrations, to guarantee real time
+keyframe_parallax: 10.0 # keyframe selection threshold (pixel)
+
+#imu parameters       The more accurate parameters you provide, the better performance
+acc_n: 0.01          # accelerometer measurement noise standard deviation. #0.2   0.04
+gyr_n: 0.001         # gyroscope measurement noise standard deviation.     #0.05  0.004
+acc_w: 0.0001        # accelerometer bias random work noise standard deviation.  #0.02
+gyr_w: 0.00001       # gyroscope bias random work noise standard deviation.     #4.0e-5
+g_norm: 9.8         # gravity magnitude
+
+#unsynchronization parameters
+estimate_td: 1                      # online estimate time offset between camera and imu
+# td: -0.0736        #-0.0736 when use DJI IMU                       # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock)#
+td: 0.00673 #Use mynteye imu
+#loop closure parameters
+load_previous_pose_graph: 0        # load and reuse previous pose graph; load from 'pose_graph_save_path'
+pose_graph_save_path: "/home/dji/output/pose_graph/" # save and load path
+save_image: 0                   # save image in pose graph for visualization prupose; you can close this function by setting 0 
+
+#rectify
+publish_rectify: 0              # whether publish rectified pose
+cam0_rectify: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 0.9999794402722955, 0.005971027935946018, 0.002337917469648631,
+         -0.005978666381574051, 0.9999767681029859, 0.003273958247306185,
+         -0.002318314259234973, -0.003287868564194767, 0.9999919076369068 ]
+cam1_rectify: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 0.9998915742446248, -0.01007564660075198, -0.01073876623186388,
+           0.0100404509454154, 0.9999440608735217, -0.00332632959632902,
+           0.01077168043615163, 0.00321814688096462, 0.9999368052188268 ]
\ No newline at end of file
diff --git a/config/mini_mynteye_stereo/right.yaml b/config/mini_mynteye_stereo/right.yaml
new file mode 100644
index 0000000..b4f17f9
--- /dev/null
+++ b/config/mini_mynteye_stereo/right.yaml
@@ -0,0 +1,18 @@
+%YAML:1.0
+---
+model_type: MEI
+camera_name: camera
+image_width: 640
+image_height: 400
+mirror_parameters:
+   xi: 7.6130795731481848e-01
+distortion_parameters:
+   k1: -8.3845047307902776e-01
+   k2: 4.9327268028824378e-01
+   p1: 1.4202248120878233e-03
+   p2: 2.3323615498168623e-04
+projection_parameters:
+   gamma1: 7.7829790296261615e+02
+   gamma2: 7.7656187138221821e+02
+   u0: 3.2695809667315007e+02
+   v0: 1.9512262439104094e+02