diff --git a/tools/dataset/record2.cc b/tools/dataset/record2.cc
index 48b8bfd..4f8c647 100644
--- a/tools/dataset/record2.cc
+++ b/tools/dataset/record2.cc
@@ -29,23 +29,6 @@ int main(int argc, char *argv[]) {
   auto &&device = device::select();
   if (!device)
     return 1;
-  /*
-  {  // auto-exposure
-    device->SetOptionValue(Option::EXPOSURE_MODE, 0);
-    device->SetOptionValue(Option::MAX_GAIN, 40);  // [0.48]
-    device->SetOptionValue(Option::MAX_EXPOSURE_TIME, 120);  // [0,240]
-    device->SetOptionValue(Option::DESIRED_BRIGHTNESS, 200);  // [0,255]
-  }
-  {  // manual-exposure
-    device->SetOptionValue(Option::EXPOSURE_MODE, 1);
-    device->SetOptionValue(Option::GAIN, 20);  // [0.48]
-    device->SetOptionValue(Option::BRIGHTNESS, 20);  // [0,240]
-    device->SetOptionValue(Option::CONTRAST, 20);  // [0,255]
-  }
-  device->SetOptionValue(Option::IR_CONTROL, 80);
-  device->SetOptionValue(Option::FRAME_RATE, 25);
-  device->SetOptionValue(Option::IMU_FREQUENCY, 500);
-  */
   device->InitResolution(Resolution::RES_1280x400);
   device->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
   device->LogOptionInfos();
@@ -79,17 +62,42 @@ int main(int argc, char *argv[]) {
 
     auto &&left_frame = left_datas.back().frame;
     auto &&right_frame = right_datas.back().frame;
-    cv::Mat left_img(
-        left_frame->height(), left_frame->width(), CV_8UC1, left_frame->data());
-    cv::Mat right_img(
-        right_frame->height(), right_frame->width(), CV_8UC1,
-        right_frame->data());
 
     cv::Mat img;
-    cv::hconcat(left_img, right_img, img);
-    cv::imshow("frame", img);
 
-    {  // save
+    if (left_frame->format() == Format::GREY) {
+      cv::Mat left_img(
+          left_frame->height(), left_frame->width(), CV_8UC1,
+          left_frame->data());
+      cv::Mat right_img(
+          right_frame->height(), right_frame->width(), CV_8UC1,
+          right_frame->data());
+      cv::hconcat(left_img, right_img, img);
+    } else if (left_frame->format() == Format::YUYV) {
+      cv::Mat left_img(
+          left_frame->height(), left_frame->width(), CV_8UC2,
+          left_frame->data());
+      cv::Mat right_img(
+          right_frame->height(), right_frame->width(), CV_8UC2,
+          right_frame->data());
+      cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
+      cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
+      cv::hconcat(left_img, right_img, img);
+    } else if (left_frame->format() == Format::BGR888) {
+      cv::Mat left_img(
+          left_frame->height(), left_frame->width(), CV_8UC3,
+          left_frame->data());
+      cv::Mat right_img(
+          right_frame->height(), right_frame->width(), CV_8UC3,
+          right_frame->data());
+      cv::cvtColor(left_img, left_img, CV_BGR2RGB);
+      cv::cvtColor(right_img, right_img, CV_BGR2RGB);
+      cv::hconcat(left_img, right_img, img);
+    } else {
+      return -1;
+    }
+    cv::imshow("frame", img);
+    if (img_count > 10 && imu_count > 50) {  // save
       for (auto &&left : left_datas) {
         dataset.SaveStreamData(Stream::LEFT, left);
       }
@@ -125,4 +133,4 @@ int main(int argc, char *argv[]) {
   LOG(INFO) << "Imu count: " << imu_count
             << ", hz: " << (1000.f * imu_count / elapsed_ms);
   return 0;
-}
+}
\ No newline at end of file