diff --git a/src/mynteye/api/processor/depth_processor.cc b/src/mynteye/api/processor/depth_processor.cc
index 4107065..ae8f5e5 100644
--- a/src/mynteye/api/processor/depth_processor.cc
+++ b/src/mynteye/api/processor/depth_processor.cc
@@ -29,7 +29,7 @@ DepthProcessor::DepthProcessor(
     std::int32_t proc_period)
     : Processor(std::move(proc_period)),
     calib_infos_(calib_infos) {
-  VLOG(2) << __func__ << ": proc_period=" << proc_period;
+  VLOG(2) << __func__;
 }
 
 DepthProcessor::~DepthProcessor() {
@@ -51,7 +51,7 @@ bool DepthProcessor::OnProcess(
   ObjMat *output = Object::Cast<ObjMat>(out);
   int rows = input->value.rows;
   int cols = input->value.cols;
-  // std::cout << calib_infos_->T_mul_f << std::endl;
+  std::cout << calib_infos_->T_mul_f << std::endl;
   // 0.0793434
   cv::Mat depth_mat = cv::Mat::zeros(rows, cols, CV_16U);
   for (int i = 0; i < rows; i++) {
diff --git a/src/mynteye/api/processor/points_processor.cc b/src/mynteye/api/processor/points_processor.cc
index 162f7f7..fd8f204 100644
--- a/src/mynteye/api/processor/points_processor.cc
+++ b/src/mynteye/api/processor/points_processor.cc
@@ -57,7 +57,7 @@ PointsProcessor::PointsProcessor(
     std::int32_t proc_period)
     : Processor(std::move(proc_period)),
     calib_infos_(calib_infos) {
-  VLOG(2) << __func__ << ": proc_period=" << proc_period;
+  VLOG(2) << __func__;
 }
 
 PointsProcessor::~PointsProcessor() {
diff --git a/src/mynteye/api/processor/rectify_processor.cc b/src/mynteye/api/processor/rectify_processor.cc
index e668eca..a601e28 100644
--- a/src/mynteye/api/processor/rectify_processor.cc
+++ b/src/mynteye/api/processor/rectify_processor.cc
@@ -339,6 +339,13 @@ void RectifyProcessor::InitParams(
       generateCameraFromIntrinsicsEquidistant(in_left);
   camodocal::CameraPtr camera_odo_ptr_right =
       generateCameraFromIntrinsicsEquidistant(in_right);
+  auto calib_infos_temp =
+      stereoRectify(camera_odo_ptr_left,
+                    camera_odo_ptr_right,
+                    in_left,
+                    in_right,
+                    ex_right_to_left);
+  *calib_infos = *calib_infos_temp;
   auto calib_info_tmp = stereoRectify(camera_odo_ptr_left,
         camera_odo_ptr_right,
         in_left,
@@ -380,7 +387,6 @@ RectifyProcessor::RectifyProcessor(
       std::int32_t proc_period)
     : Processor(std::move(proc_period)),
       calib_model(CalibrationModel::UNKNOW) {
-  VLOG(2) << __func__ << ": proc_period=" << proc_period;
   calib_infos = std::make_shared<struct camera_calib_info_pair>();
   InitParams(
     *std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_left),
diff --git a/tools/dataset/dataset.cc b/tools/dataset/dataset.cc
index 7d2065d..eab794f 100644
--- a/tools/dataset/dataset.cc
+++ b/tools/dataset/dataset.cc
@@ -95,15 +95,13 @@ void Dataset::SaveMotionData(const device::MotionData &data) {
   auto &&writer = GetMotionWriter();
   // auto seq = data.imu->serial_number;
   auto seq = motion_count_;
-  if (data.imu->flag == 1 || data.imu->flag == 2) {
-    writer->ofs << seq << ", " << static_cast<int>(data.imu->flag) << ", "
-                << data.imu->timestamp << ", " << data.imu->accel[0] << ", "
-                << data.imu->accel[1] << ", " << data.imu->accel[2] << ", "
-                << data.imu->gyro[0] << ", " << data.imu->gyro[1] << ", "
-                << data.imu->gyro[2] << ", " << data.imu->temperature
-                << std::endl;
-    ++motion_count_;
-  }
+  writer->ofs << seq << ", " << static_cast<int>(data.imu->flag) << ", "
+              << data.imu->timestamp << ", " << data.imu->accel[0] << ", "
+              << data.imu->accel[1] << ", " << data.imu->accel[2] << ", "
+              << data.imu->gyro[0] << ", " << data.imu->gyro[1] << ", "
+              << data.imu->gyro[2] << ", " << data.imu->temperature
+              << std::endl;
+  ++motion_count_;
   /*
   if(motion_count_ != seq) {
     LOG(INFO) << "motion_count_ != seq !" << " motion_count_: " << motion_count_
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
index 17c38d5..dd1048b 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
@@ -310,7 +310,7 @@
         - 'image_transport/compressedDepth'
       </rosparam>
     </group>
-    <group ns="$(arg right_rect_topic)">
+    <group ns="$(arg left_mono_topic)">
       <rosparam param="disable_pub_plugins">
         - 'image_transport/compressedDepth'
       </rosparam>
@@ -320,6 +320,16 @@
         - 'image_transport/compressedDepth'
       </rosparam>
     </group>
+    <group ns="$(arg right_mono_topic)">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+    <group ns="$(arg right_rect_topic)">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
     <group ns="$(arg disparity_topic)">
       <rosparam param="disable_pub_plugins">
         - 'image_transport/compressedDepth'