diff --git a/include/mynteye/api/api.h b/include/mynteye/api/api.h
index c86e9e8..3accde8 100644
--- a/include/mynteye/api/api.h
+++ b/include/mynteye/api/api.h
@@ -213,6 +213,11 @@ class MYNTEYE_API API {
    */
   bool RunOptionAction(const Option &option) const;
 
+  /**
+   * Init device resolution.
+   */
+  void InitResolution(const Resolution &res);
+
   /**
    * Set the callback of stream.
    */
diff --git a/include/mynteye/device/callbacks.h b/include/mynteye/device/callbacks.h
index f1775ce..0019433 100644
--- a/include/mynteye/device/callbacks.h
+++ b/include/mynteye/device/callbacks.h
@@ -19,6 +19,7 @@
 
 #include <algorithm>
 #include <functional>
+#include <map>
 #include <memory>
 #include <vector>
 
@@ -29,6 +30,20 @@ MYNTEYE_BEGIN_NAMESPACE
 
 namespace device {
 
+typedef struct ImgParams {
+  bool ok;
+  std::map<Resolution, Intrinsics> in_left_map;
+  std::map<Resolution, Intrinsics> in_right_map;
+  Extrinsics ex_right_to_left;
+} img_params_t;
+
+typedef struct ImuParams {
+  bool ok;
+  ImuIntrinsics in_accel;
+  ImuIntrinsics in_gyro;
+  Extrinsics ex_left_to_imu;
+} imu_params_t;
+
 /**
  * @ingroup datatypes
  * Frame with raw data.
diff --git a/include/mynteye/device/device.h b/include/mynteye/device/device.h
index 46c7b1a..4e9b6f3 100644
--- a/include/mynteye/device/device.h
+++ b/include/mynteye/device/device.h
@@ -66,6 +66,9 @@ class MYNTEYE_API Device {
   using stream_async_callback_ptr_t = std::shared_ptr<stream_async_callback_t>;
   using motion_async_callback_ptr_t = std::shared_ptr<motion_async_callback_t>;
 
+  using img_params_t = device::img_params_t;
+  using imu_params_t = device::imu_params_t;
+
   Device(const Model &model, std::shared_ptr<uvc::device> device);
   virtual ~Device();
 
@@ -263,7 +266,7 @@ class MYNTEYE_API Device {
   /**
    * Get the device img params
    */
-  Channels::img_params_t GetImgParams();
+  img_params_t GetImgParams();
 
  protected:
   std::shared_ptr<uvc::device> device() const {
@@ -310,7 +313,7 @@ class MYNTEYE_API Device {
   std::shared_ptr<MotionIntrinsics> motion_intrinsics_;
   std::map<Stream, Extrinsics> motion_from_extrinsics_;
 
-  Channels::img_params_t img_params_;
+  img_params_t img_params_;
   stream_callbacks_t stream_callbacks_;
   motion_callback_t motion_callback_;
 
diff --git a/src/mynteye/api/api.cc b/src/mynteye/api/api.cc
index b839500..a74df26 100644
--- a/src/mynteye/api/api.cc
+++ b/src/mynteye/api/api.cc
@@ -287,6 +287,10 @@ bool API::Supports(const AddOns &addon) const {
   return device_->Supports(addon);
 }
 
+void API::InitResolution(const Resolution &res) {
+  return device_->InitResolution(res);
+}
+
 void API::SetStreamRequest(const Format &format, const FrameRate &rate) {
   device_->SetStreamRequest(format, rate);
 }
diff --git a/src/mynteye/api/synthetic.cc b/src/mynteye/api/synthetic.cc
index ebac2ee..35ab9a5 100644
--- a/src/mynteye/api/synthetic.cc
+++ b/src/mynteye/api/synthetic.cc
@@ -17,6 +17,8 @@
 #include <functional>
 #include <stdexcept>
 
+#include <opencv2/imgproc/imgproc.hpp>
+
 #include "mynteye/logger.h"
 #include "mynteye/api/object.h"
 #include "mynteye/api/plugin.h"
diff --git a/src/mynteye/device/channels.cc b/src/mynteye/device/channels.cc
index d6188e9..48a0998 100644
--- a/src/mynteye/device/channels.cc
+++ b/src/mynteye/device/channels.cc
@@ -565,7 +565,7 @@ std::size_t from_data(
 
 // TODO(Kalman): Is there a more elegant way?
 std::size_t from_data(
-    Channels::img_params_t *img_params, const std::uint8_t *data,
+    device::img_params_t *img_params, const std::uint8_t *data,
     const Version *spec_version) {
   std::size_t i = 0;
 
@@ -600,7 +600,7 @@ std::size_t from_data(
 }
 
 std::size_t from_data(
-    Channels::imu_params_t *imu_params, const std::uint8_t *data,
+    device::imu_params_t *imu_params, const std::uint8_t *data,
     const Version *spec_version) {
   std::size_t i = 0;
   i += from_data(&imu_params->in_accel, data + i, spec_version);
@@ -864,7 +864,7 @@ std::size_t to_data(
 }
 
 std::size_t to_data(
-    const Channels::img_params_t *img_params, std::uint8_t *data,
+    const device::img_params_t *img_params, std::uint8_t *data,
     const Version *spec_version) {
   std::size_t i = 3;  // skip id, size
 
diff --git a/src/mynteye/device/channels.h b/src/mynteye/device/channels.h
index 881fca9..86dccdb 100644
--- a/src/mynteye/device/channels.h
+++ b/src/mynteye/device/channels.h
@@ -21,6 +21,7 @@
 
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
+#include "mynteye/device/device.h"
 #include "mynteye/device/types.h"
 #include "mynteye/uvc/uvc.h"
 
@@ -67,6 +68,9 @@ class MYNTEYE_API Channels {
 
   using device_info_t = DeviceInfo;
 
+  using imu_params_t = device::imu_params_t;
+  using img_params_t = device::img_params_t;
+/*
   typedef struct ImgParams {
     bool ok;
     std::map<Resolution, Intrinsics> in_left_map;
@@ -80,7 +84,7 @@ class MYNTEYE_API Channels {
     ImuIntrinsics in_gyro;
     Extrinsics ex_left_to_imu;
   } imu_params_t;
-
+*/
   explicit Channels(std::shared_ptr<uvc::device> device);
   ~Channels();
 
diff --git a/src/mynteye/device/device.cc b/src/mynteye/device/device.cc
index 5c3c9dd..7041168 100644
--- a/src/mynteye/device/device.cc
+++ b/src/mynteye/device/device.cc
@@ -557,8 +557,8 @@ void Device::ReadAllInfos() {
   device_info_ = std::make_shared<DeviceInfo>();
 
   CHECK_NOTNULL(channels_);
-  Channels::imu_params_t imu_params;
-  if (!channels_->GetFiles(device_info_.get(), &img_params, &imu_params)) {
+  Device::imu_params_t imu_params;
+  if (!channels_->GetFiles(device_info_.get(), &img_params_, &imu_params)) {
 #if defined(WITH_DEVICE_INFO_REQUIRED)
     LOG(FATAL)
 #else
@@ -629,7 +629,7 @@ void Device::CallbackMotionData(const device::MotionData &data) {
   }
 }
 
-Channels::img_params_t Device::GetImgParams() {
+Device::img_params_t Device::GetImgParams() {
   return img_params_;
 }
 
diff --git a/tools/dataset/CMakeLists.txt b/tools/dataset/CMakeLists.txt
index b6bb217..54399da 100644
--- a/tools/dataset/CMakeLists.txt
+++ b/tools/dataset/CMakeLists.txt
@@ -26,11 +26,11 @@ include_directories(
 
 ## record
 
-make_executable(record
-  SRCS record.cc dataset.cc
-  LINK_LIBS mynteye ${OpenCV_LIBS}
-  DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
-)
+# make_executable(record
+#  SRCS record.cc dataset.cc
+#  LINK_LIBS mynteye ${OpenCV_LIBS}
+#  DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
+#)
 
 make_executable(record2
   SRCS record2.cc dataset.cc
diff --git a/tools/dataset/dataset.cc b/tools/dataset/dataset.cc
index 5b63475..407b6b9 100644
--- a/tools/dataset/dataset.cc
+++ b/tools/dataset/dataset.cc
@@ -13,11 +13,8 @@
 // limitations under the License.
 #include "dataset/dataset.h"
 
-#ifdef WITH_OPENCV2
 #include <opencv2/highgui/highgui.hpp>
-#else
-#include <opencv2/imgcodecs/imgcodecs.hpp>
-#endif
+#include <opencv2/imgproc/imgproc.hpp>
 
 #include <iomanip>
 #include <limits>
@@ -135,14 +132,24 @@ void Dataset::SaveStreamData(
 
 void Dataset::SaveMotionData(const api::MotionData &data) {
   auto &&writer = GetMotionWriter();
+  // auto seq = data.imu->serial_number;
   auto seq = motion_count_;
-  writer->ofs << seq << ", " << data.imu->frame_id << ", "
-              << 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 (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_;
+  }
+  /*
+  if(motion_count_ != seq) {
+    LOG(INFO) << "motion_count_ != seq !" << " motion_count_: " << motion_count_
+  << " seq: " << seq;
+    motion_count_ = seq;
+  }
+  */
 }
 
 Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) {
diff --git a/tools/writer/device_writer.h b/tools/writer/device_writer.h
index f15130f..5e443e0 100644
--- a/tools/writer/device_writer.h
+++ b/tools/writer/device_writer.h
@@ -31,8 +31,8 @@ namespace tools {
 class DeviceWriter {
  public:
   using dev_info_t = DeviceInfo;
-  using img_params_t = Channels::img_params_t;
-  using imu_params_t = Channels::imu_params_t;
+  using img_params_t = device::img_params_t;
+  using imu_params_t = device::imu_params_t;
 
   explicit DeviceWriter(std::shared_ptr<Device> device);
   ~DeviceWriter();
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
index 81bcd72..aac3965 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -72,11 +72,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       }
       if (imu_time_beg_ != -1) {
         if (publish_imu_by_sync_) {
-          LOG(INFO) << "imu_sync_count: " << imu_sync_count_
-                    << ", hz: " << (imu_sync_count_ / time_elapsed);
+          LOG(INFO) << "imu_sync_count: " << imu_sync_count_ << ", hz: "
+                    << (imu_sync_count_ /
+                    compute_time(time_end, imu_time_beg_));
         } else {
-          LOG(INFO) << "Imu count: " << imu_count_
-                    << ", hz: " << (imu_count_ / time_elapsed);
+          LOG(INFO) << "Imu count: " << imu_count_ << ", hz: "
+                    << (imu_count_ /
+                    compute_time(time_end, imu_time_beg_));
+        }
       }
 
       // ROS messages could not be reliably printed here, using glog instead :(
@@ -208,7 +211,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     }
 
     camera_encodings_ = {{Stream::LEFT, enc::BGR8},
-                         {Stream::RIGHT, enc::BGR8}
+                         {Stream::RIGHT, enc::BGR8},
                          {Stream::LEFT_RECTIFIED, enc::BGR8},
                          {Stream::RIGHT_RECTIFIED, enc::BGR8},
                          {Stream::DISPARITY, enc::MONO8},  // float