Merge branch 'devel-s210a-merge' into develop

2018-12-24 10:41:40 +08:00 · 2018-12-24 10:41:40 +08:00 · 7e42cd65b1
commit 7e42cd65b1
parent 263658834a 34283fda0c
89 changed files with 2987 additions and 1338 deletions
--- a/.commitlintrc.js
+++ b/.commitlintrc.js
@ -0,0 +1,11 @@
+module.exports = {
+  extends: ['@commitlint/config-conventional'],
+  rules: {
+  'type-enum': [2, 'always', [
+    "feat", "fix", "docs", "style", "refactor", "perf", "test", "build", "ci", "chore", "revert"
+  ]],
+  'scope-empty': [2, 'never'],
+  'subject-full-stop': [0, 'never'],
+  'subject-case': [0, 'never']
+  }
+};
--- a/.gitignore
+++ b/.gitignore
@ -21,6 +21,9 @@ _output/
 /*.nsi
 /*.exe

+/node_modules/
+/package-lock.json
+
 # ros

 /wrappers/ros/build
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -106,7 +106,6 @@ set_outdir(
 )

 ## main
-
 if(WITH_GLOG)
  add_executable(main src/main.cc)
  target_link_libraries(main glog::glog)
@ -124,6 +123,11 @@ if(NOT WITH_GLOG AND NOT OS_WIN)
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${__MINIGLOG_FLAGS}")
  unset(__MINIGLOG_FLAGS)
 endif()
+if(NOT WITH_GLOG)
+  list(APPEND MYNTEYE_PUBLIC_H
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/mynteye/miniglog.h
+  )
+endif()

 if(OS_WIN)
  set(UVC_SRC src/mynteye/uvc/win/uvc-wmf.cc)
@ -146,7 +150,7 @@ elseif(OS_MAC)
  SET(OSX_EXTRA_LIBS ${VVUVCKIT_LIBRARY} ${USB_LIBRARY})

  set(UVC_SRC src/mynteye/uvc/macosx/CameraEngine.cpp src/mynteye/uvc/macosx/AVfoundationCamera.mm src/mynteye/uvc/macosx/uvc-vvuvckit.cc )
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -framework CoreFoundation -framework AVFoundation -framework IOKit -framework AppKit -framework Cocoa -framework CoreMedia -framework CoreData -framework Foundation -framework CoreVideo ${__MACUVCLOG_FLAGS}") 
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -framework CoreFoundation -framework AVFoundation -framework IOKit -framework AppKit -framework Cocoa -framework CoreMedia -framework CoreData -framework Foundation -framework CoreVideo ${__MACUVCLOG_FLAGS}")

  find_package(libuvc REQUIRED)
  set(UVC_LIB ${libuvc_LIBRARIES})
@ -167,8 +171,13 @@ set(MYNTEYE_SRCS
  src/mynteye/device/config.cc
  src/mynteye/device/context.cc
  src/mynteye/device/device.cc
-  src/mynteye/device/device_s.cc
  src/mynteye/device/motions.cc
+  src/mynteye/device/standard/channels_adapter_s.cc
+  src/mynteye/device/standard/device_s.cc
+  src/mynteye/device/standard/streams_adapter_s.cc
+  src/mynteye/device/standard2/channels_adapter_s2.cc
+  src/mynteye/device/standard2/device_s2.cc
+  src/mynteye/device/standard2/streams_adapter_s2.cc
  src/mynteye/device/streams.cc
  src/mynteye/device/types.cc
  src/mynteye/device/utils.cc
--- a/cmake/Option.cmake
+++ b/cmake/Option.cmake
@ -21,7 +21,6 @@ include(${CMAKE_CURRENT_LIST_DIR}/Utils.cmake)
 # build components

 option(WITH_API "Build with API layer, need OpenCV" ON)
-
 option(WITH_DEVICE_INFO_REQUIRED "Build with device info required" ON)

 # 3rdparty components
@ -32,7 +31,6 @@ option(WITH_BOOST "Include Boost support" ON)
 #   Ubuntu: `sudo apt-get install libgoogle-glog-dev`
 option(WITH_GLOG "Include glog support" OFF)

-
 # packages

 if(WITH_API)
--- a/doc/zh-Hans/spec_control_api.md
+++ b/doc/zh-Hans/spec_control_api.md
@ -6,25 +6,22 @@

 | 名称 | 字段 | 字节数 | 默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 说明 |
 | :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----- |
-| 增益 | gain | 2 | 24 | 0 | 48 | √ | 0x12 | 关闭自动曝光，手动设定的参数 |
-| 亮度 | brightness/exposure_time | 2 | 120 | 0 | 240 | √ | 0x14 | 关闭自动曝光，手动设定的参数 |
-| 对比度 | contrast/black_level_calibration | 2 | 127 | 0 | 255 | √ | 0x10 | 关闭自动曝光，手动设定的参数 |
+| 亮度 | brightness | 2 | 192 | 0 | 255 | √ | 0x14 | 关闭自动曝光，手动设定的参数 |

 > UVC 标准协议实现的控制，有现成的 API 进行 Get & Set ，包括 Min, Max, Default 。

 ## 自定义协议

-| 名称 | 字段 | 字节数 | 默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 所属通道 | 说明 |
-| :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----------- | :----- |
-| 图像帧率 | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | 步进为5，即有效值为{10,15,20,25,30,35,40,45,50,55,60} |
-| IMU 频率 | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | 有效值为{100,200,250,333,500} |
-| 曝光模式 | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0：开启自动曝光； 1：关闭 |
-| 最大增益 | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | 开始自动曝光，可设定的阈值 |
-| 最大曝光时间 | max_exposure_time | 2 | 240 | 0 | 240 | √ | 0x1B | XU_CAM_CTRL | 开始自动曝光，可设定的阈值 |
-| 期望亮度 | desired_brightness | 2 | 192 | 0 | 255 | √ | 0x19 | XU_CAM_CTRL | 开始自动曝光，可设定的阈值 |
-| IR 控制 | ir_control | 1 | 0 | 0 | 160 | × | - | XU_CAM_CTRL | |
-| HDR 模式 | hdr_mode | 1 | 0 | 0 | 1 | √ | 0x1F | XU_CAM_CTRL | 0：10-bit；1：12-bit |
-| 零漂标定 | zero_drift_calibration | | - | - | - | × | - | XU_HALF_DUPLEX | |
-| 擦除芯片 | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | |
+| 名称 | 字段 | 字节数 |  默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 所属通道 | 通道地址 | 说明 |
+| :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----------- | :----------- | :----- |
+| 曝光模式 | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0x0100 | 0：开启自动曝光； 1：关闭 |
+| 最大增益 | max_gain | 2 | 8 | 0 | 255 | √ | 0x1D | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
+| 最大曝光时间 | max_exposure_time | 2 | 333 | 0 | 1000 | √ | 0x1B | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
+| 期望亮度 | desired_brightness | 2 | 122 | 1 | 255 | √ | 0x19 | XU_CAM_CTRL | 0x0100 | |
+| 擦除芯片 | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | 0x0200 | |
+| 最小曝光时间 | min_exposure_time | 2 | 0 | 0 | 1000 | √ | - | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
 | 加速度计量程 | accelerometer_range | 2 | 12 | 6 | 48 | √ | - | XU_CAM_CTRL | 0x0100 | |
 | 陀螺仪量程 | gyroscope_range | 2 | 1000 | 250 | 4000 | √ | - | XU_CAM_CTRL | 0x0100 | |
+| 加速度计低通滤波 | accelerometer_low_pass_filter | 2 | 2 | 0 | 2 | √ | - | XU_CAM_CTRL | 0x0100 | |
+| 陀螺仪低通滤波 | gyroscope__low_pass_filter | 2 | 64 | 23 | 64 | √ | - | XU_CAM_CTRL | 0x0100 | |
+
--- a/doc/zh-Hans/spec_control_channel.md
+++ b/doc/zh-Hans/spec_control_channel.md
@ -49,5 +49,5 @@
 | File | ID | Max Size |
 | :--- | :- | :------- |
 | 硬件信息 | 1 | 250 |
-| 图像参数 | 2 | 250 |
+| 图像参数 | 2 | 404 |
 | IMU 参数 | 4 | 500 |
--- a/doc/zh-Hans/spec_image_data.md
+++ b/doc/zh-Hans/spec_image_data.md
@ -3,20 +3,19 @@
 | 名称 | 字段 | 单位 | 字节数 | 说明 |
 | :----- | :----- | :----- | :-------- | :----- |
 | 帧 ID | frame_id | - | 2 | uint16_t; [0,65535] |
-| 时间戳 | timestamp | 10 us | 4 | uint32_t |
-| 曝光时间 | exposure_time | 10 us | 2 | uint16_t |
+| 时间戳 | timestamp | 1 us | 8 | uint64_t |
+| 曝光时间 | exposure_time | 1 us | 2 | uint16_t |

 > 图像数据传输方式：倒序排在图像尾部。

 ## 图像数据包

-| Name | Header | Size | Frame ID | Timestamp | Exposure Time | Checksum |
-| :--- | :----- | :--- | :------- | :-------- | :------------ | :------- |
-| 字节数 | 1 | 1 | 2 | 4 | 2 | 1 |
-| 类型 | uint8_t | uint8_t | uint16_t | uint32_t | uint16_t | uint8_t |
-| 描述 | 0x3B | 0x08 （数据内容大小） | 帧 ID | 时间戳 | 曝光时间 | 校验码（数据内容所有字节异或） |
+| Name | Header | Size | FrameID | Timestamp | ExposureTime | Checksum |
+| :--- | :----- | :--- | :------ | :-------- | :----------- | :------- |
+| 字节数 | 1 | 1 | 2 | 8 | 2 | 1 |
+| 类型 | uint8_t | uint8_t | uint16_t | uint64_t | uint16_t | uint8_t |
+| 描述 | 0x3B | 0x10 （数据内容大小） | 帧 ID | 时间戳 | 曝光时间 | 校验码（数据内容所有字节异或） |

 * 数据包校验不过，会丢弃该帧。
-* 时间单位的精度为： 0.01 ms / 10 us 。
-  * 4 字节能表示的最大时间约是 11.9 小时，溢出后将重累计。
+* 时间的单位精度为： 1 us 。
 * 时间累计是从上电时从开始，而不是从打开时开始。
--- a/doc/zh-Hans/spec_imu_data.md
+++ b/doc/zh-Hans/spec_imu_data.md
@ -10,7 +10,7 @@

 ## IMU 响应数据包

-IMU 响应数据包里会包含多个 IMU 包，而每个 IMU 包又带有多个 IMU 段。
+IMU 响应数据包里会包含1个 IMU 包，而每个 IMU 包又带有多个 IMU 段。

 | Name | Header | State | Size | IMU Packets | Checksum |
 | :--- | :----- | :---- | :--- | :---------- | :------- |
@ -22,21 +22,21 @@ IMU 响应数据包里会包含多个 IMU 包，而每个 IMU 包又带有多个

 IMU 包/小包，是一组 IMU 数据。

-| Name | Serial Number | Timestamp | Count | IMU Datas |
-| :--- | :------------ | :-------- | :---- | :-------- |
-| 字节数 | 4 | 4 | 1 | ... |
-| 类型 | uint32_t | uint32_t | uint8_t | - |
-| 描述 | 序列号 | IMU 基准时间戳 | IMU 段数量 | 所包含的 IMU 段 |
+| Name | Count | IMU Datas |
+| :--- | :-----| :-------- |
+| 字节数 | 2 | ... |
+| 类型 | uint16_t | - |
+| 描述 | IMU 段数量 | 所包含的 IMU 段 |

 ### IMU 段

-| Name | Offset | Frame ID | Accelerometer | Temperature | Gyroscope |
-| :--- | :----- | :------- | :------------ | :---------- | :-------- |
-| 字节数 | 2 | 2 | 6 | 2 | 6 |
-| 类型 | int16_t | uint16_t | int16_t * 3 | int16_t | int16_t * 3 |
-| 描述 | 相对基准时间戳的偏移量 | 图像帧 ID | 加速度计 x y z 三轴的值 | IMU 的温度 | 陀螺仪 x y z 三轴的值 |
+| Name | Serial Number | Timestamp | flag |  Temperature | Accelerometer or Gyroscope |
+| :--- | :------------ | :-------- | :----| :----------- | :------------------------- |
+| 字节数 | 4 | 8 | 1 | 2 | 6 |
+| 类型 | uint32_t | uint64_t | int8_t | int16_t | int16_t * 3 |
+| Description | 序列号 | 时间戳 | 指定传感器类型 | IMU 的温度 | 陀螺仪或陀螺仪 x y z 三轴的值 |

 * 加速度计和陀螺仪的计量值换算成物理值公式： **real = data * range / 0x10000** 。
-  * 加速度计量程默认值为 **8 g** ，陀螺仪量程默认值为 **1000 deg/s** 。
+  * 加速度计量程默认值为 **12 g** ，陀螺仪量程默认值为 **1000 deg/s** 。
 * 温度计量值换算成物理值公式： **real = data / ratio + offset** 。
  * ``ratio`` 默认值为 **326.8** ， ``offset`` 默认值为 **25℃** 。
--- a/include/mynteye/api/api.h
+++ b/include/mynteye/api/api.h
@ -28,6 +28,8 @@

 MYNTEYE_BEGIN_NAMESPACE

+struct DeviceInfo;
+
 class Device;
 class Synthetic;

@ -72,8 +74,7 @@ struct MYNTEYE_API MotionData {

  bool operator==(const MotionData &other) const {
    if (imu && other.imu) {
-      return imu->frame_id == other.imu->frame_id &&
-             imu->timestamp == other.imu->timestamp;
+      return imu->timestamp == other.imu->timestamp;
    }
    return false;
  }
@ -94,18 +95,6 @@ class MYNTEYE_API API {
  explicit API(std::shared_ptr<Device> device);
  virtual ~API();

-  /**
-   * Create the API instance.
-   * @return the API instance.
-   * @note This will call device::select() to select a device.
-   */
-  static std::shared_ptr<API> Create();
-  /**
-   * Create the API instance.
-   * @param device the selected device.
-   * @return the API instance.
-   */
-  static std::shared_ptr<API> Create(std::shared_ptr<Device> device);
  /**
   * Create the API instance.
   * @param argc the arg count.
@ -124,7 +113,13 @@ class MYNTEYE_API API {
   * @note This will init glog with args.
   */
  static std::shared_ptr<API> Create(
-      int argc, char *argv[], std::shared_ptr<Device> device);
+      int argc, char *argv[], const std::shared_ptr<Device> &device);
+  /**
+   * Create the API instance.
+   * @param device the selected device.
+   * @return the API instance.
+   */
+  static std::shared_ptr<API> Create(const std::shared_ptr<Device> &device);

  /**
   * Get the model.
@ -148,6 +143,11 @@ class MYNTEYE_API API {
   */
  bool Supports(const AddOns &addon) const;

+  /**
+   * Log all stream requests and prompt user to select one.
+   */
+  StreamRequest SelectStreamRequest(bool *ok) const;
+
  /**
   * Get all stream requests of the capability.
   */
@ -158,7 +158,28 @@ class MYNTEYE_API API {
   */
  void ConfigStreamRequest(
      const Capabilities &capability, const StreamRequest &request);
+  /**
+   * Get the config stream requests of the capability.
+   */
+  const StreamRequest &GetStreamRequest(const Capabilities &capability) const;

+  /**
+   * Get all stream requests of the key stream capability.
+   */
+  const std::vector<StreamRequest> &GetStreamRequests() const;
+  /**
+   * Config the stream request to the key stream capability.
+   */
+  void ConfigStreamRequest(const StreamRequest &request);
+  /**
+   * Get the config stream requests of the key stream capability.
+   */
+  const StreamRequest &GetStreamRequest() const;
+
+  /**
+   * Get the device info.
+   */
+  std::shared_ptr<DeviceInfo> GetInfo() const;
  /**
   * Get the device info.
   */
@ -279,6 +300,8 @@ class MYNTEYE_API API {
  std::shared_ptr<Device> device_;

  std::unique_ptr<Synthetic> synthetic_;
+
+  void CheckImageParams();
 };

 MYNTEYE_END_NAMESPACE
--- 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;
+  Intrinsics in_left;
+  Intrinsics in_right;
+  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.
--- a/include/mynteye/device/device.h
+++ b/include/mynteye/device/device.h
@ -43,8 +43,10 @@ struct DeviceInfo;

 class API;
 class Channels;
+class ChannelsAdapter;
 class Motions;
 class Streams;
+class StreamsAdapter;

 template <class Data>
 class AsyncCallback;
@ -66,7 +68,16 @@ 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>;

-  Device(const Model &model, std::shared_ptr<uvc::device> device);
+  using img_params_t = device::img_params_t;
+  using imu_params_t = device::imu_params_t;
+
+ protected:
+  Device(const Model &model,
+      const std::shared_ptr<uvc::device> &device,
+      const std::shared_ptr<StreamsAdapter> &streams_adapter,
+      const std::shared_ptr<ChannelsAdapter> &channels_adapter);
+
+ public:
  virtual ~Device();

  /**
@ -112,6 +123,23 @@ class MYNTEYE_API Device {
   */
  void ConfigStreamRequest(
      const Capabilities &capability, const StreamRequest &request);
+  /**
+   * Get the config stream requests of the capability.
+   */
+  const StreamRequest &GetStreamRequest(const Capabilities &capability) const;
+
+  /**
+   * Get all stream requests of the key stream capability.
+   */
+  const std::vector<StreamRequest> &GetStreamRequests() const;
+  /**
+   * Config the stream request to the key stream capability.
+   */
+  void ConfigStreamRequest(const StreamRequest &request);
+  /**
+   * Get the config stream requests of the key stream capability.
+   */
+  const StreamRequest &GetStreamRequest() const;

  /**
   * Get the device info.
@ -231,15 +259,15 @@ class MYNTEYE_API Device {
   */
  void WaitForStreams();

+  /**
+   * Get the latest data of stream.
+   */
+  device::StreamData GetStreamData(const Stream &stream);
  /**
   * Get the datas of stream.
   * @note default cache 4 datas at most.
   */
  std::vector<device::StreamData> GetStreamDatas(const Stream &stream);
-  /**
-   * Get the latest data of stream.
-   */
-  device::StreamData GetLatestStreamData(const Stream &stream);

  /**
   * Enable cache motion datas.
@ -271,8 +299,6 @@ class MYNTEYE_API Device {
    return motions_;
  }

-  const StreamRequest &GetStreamRequest(const Capabilities &capability);
-
  virtual void StartVideoStreaming();
  virtual void StopVideoStreaming();

@ -281,7 +307,14 @@ class MYNTEYE_API Device {

  virtual void OnStereoStreamUpdate();

-  virtual std::vector<Stream> GetKeyStreams() const = 0;
+  virtual Capabilities GetKeyStreamCapability() const = 0;
+
+  std::map<Resolution, device::img_params_t> GetImgParams() const {
+    return all_img_params_;
+  }
+  device::imu_params_t GetImuParams() const {
+    return imu_params_;
+  }

  bool video_streaming_;
  bool motion_tracking_;
@ -291,6 +324,9 @@ class MYNTEYE_API Device {
  std::shared_ptr<uvc::device> device_;
  std::shared_ptr<DeviceInfo> device_info_;

+  std::map<Resolution, device::img_params_t> all_img_params_;
+  device::imu_params_t imu_params_;
+
  std::map<Stream, Intrinsics> stream_intrinsics_;
  std::map<Stream, std::map<Stream, Extrinsics>> stream_from_extrinsics_;

@ -314,6 +350,8 @@ class MYNTEYE_API Device {
  std::shared_ptr<Motions> motions_;

  void ReadAllInfos();
+  void UpdateStreamIntrinsics(
+      const Capabilities &capability, const StreamRequest &request);

  void CallbackPushedStreamData(const Stream &stream);
  void CallbackMotionData(const device::MotionData &data);
--- a/include/mynteye/device/utils.h
+++ b/include/mynteye/device/utils.h
@ -19,6 +19,7 @@
 #include <string>

 #include "mynteye/mynteye.h"
+#include "mynteye/types.h"

 MYNTEYE_BEGIN_NAMESPACE

@ -39,6 +40,16 @@ namespace device {
 */
 MYNTEYE_API std::shared_ptr<Device> select();

+/**
+ * @ingroup utils
+ *
+ * List stream requests and prompt user to select one.
+ *
+ * @return the selected request.
+ */
+MYNTEYE_API MYNTEYE_NAMESPACE::StreamRequest select_request(
+    const std::shared_ptr<Device> &device, bool *ok);
+
 }  // namespace device

 namespace utils {
@ -58,14 +69,14 @@ MYNTEYE_API float get_real_exposure_time(

 /**
 * @ingroup utils
- * 
+ *
 * Get sdk root dir.
 */
 MYNTEYE_API std::string get_sdk_root_dir();

 /**
 * @ingroup utils
- * 
+ *
 * Get sdk install dir.
 */
 MYNTEYE_API std::string get_sdk_install_dir();
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@ -37,6 +37,8 @@ MYNTEYE_BEGIN_NAMESPACE
 enum class Model : std::uint8_t {
  /** Standard */
  STANDARD,
+  /** Standard 2 generation */
+  STANDARD2,
  /** Last guard */
  LAST
 };
@ -74,6 +76,8 @@ enum class Stream : std::uint8_t {
 enum class Capabilities : std::uint8_t {
  /** Provides stereo stream */
  STEREO,
+  /** Provide stereo color stream */
+  STEREO_COLOR,
  /** Provides color stream */
  COLOR,
  /** Provides depth stream */
@ -141,6 +145,7 @@ enum class Option : std::uint8_t {
   *   range: [0,255], default: 127
   */
  CONTRAST,
+
  /**
   * Image frame rate, must set IMU_FREQUENCY together
   *
@ -153,6 +158,7 @@ enum class Option : std::uint8_t {
   *   values: {100,200,250,333,500}, default: 200
   */
  IMU_FREQUENCY,
+
  /**
   * Exposure mode
   *
@ -163,21 +169,31 @@ enum class Option : std::uint8_t {
  /**
   * Max gain, valid if auto-exposure
   *
-   *   range: [0,48], default: 48
+   *   range of standard 1: [0,48], default: 48
+   *   range of standard 2: [0,255], default: 8
   */
  MAX_GAIN,
  /**
   * Max exposure time, valid if auto-exposure
   *
-   *   range: [0,240], default: 240
+   *   range of standard 1: [0,240], default: 240
+   *   range of standard 2: [0,1000], default: 333
   */
  MAX_EXPOSURE_TIME,
+  /**
+   * min exposure time, valid if auto-exposure
+   *
+   *   range: [0,1000], default: 0
+   */
+  MIN_EXPOSURE_TIME,
  /**
   * Desired brightness, valid if auto-exposure
   *
-   *   range: [0,255], default: 192
+   *   range of standard 1: [0,255], default: 192
+   *   range of standard 2: [1,255], default: 122
   */
  DESIRED_BRIGHTNESS,
+
  /**
   * IR control
   *
@ -191,22 +207,39 @@ enum class Option : std::uint8_t {
   *   1: 12-bit
   */
  HDR_MODE,
-  /** Zero drift calibration */
-  ZERO_DRIFT_CALIBRATION,
-  /** Erase chip */
-  ERASE_CHIP,
+
  /**
   * The range of accelerometer
   *
-   *   values: {4,8,16,32}, default: 8
+   *   value of standard 1: {4,8,16,32}, default: 8
+   *   value of standard 2: {6,12,24,48}, default: 12
   */
  ACCELEROMETER_RANGE,
  /**
   * The range of gyroscope
   *
-   *   values: {500,1000,2000,4000}, default: 1000
+   *   value of standard 1: {500,1000,2000,4000}, default: 1000
+   *   value of standard 2: {250,500,1000,2000,4000}, default: 1000
   */
  GYROSCOPE_RANGE,
+  /**
+   * The parameter of accelerometer low pass filter
+   *
+   *   values: {0,1,2}, default: 2
+   */
+  ACCELEROMETER_LOW_PASS_FILTER,
+  /**
+   * The parameter of gyroscope low pass filter
+   *
+   *   values: {23,64}, default: 64
+   */
+  GYROSCOPE_LOW_PASS_FILTER,
+
+  /** Zero drift calibration */
+  ZERO_DRIFT_CALIBRATION,
+  /** Erase chip */
+  ERASE_CHIP,
+
  /** Last guard */
  LAST
 };
@ -278,6 +311,8 @@ enum class Format : std::uint32_t {
  GREY = MYNTEYE_FOURCC('G', 'R', 'E', 'Y'),
  /** YUV 4:2:2, 16 bits per pixel */
  YUYV = MYNTEYE_FOURCC('Y', 'U', 'Y', 'V'),
+  /** BGR 8:8:8, 24 bits per pixel */
+  BGR888 = MYNTEYE_FOURCC('B', 'G', 'R', '3'),
  /** Last guard */
  LAST
 };
@ -292,6 +327,26 @@ inline std::ostream &operator<<(std::ostream &os, const Format &value) {

 MYNTEYE_API std::size_t bytes_per_pixel(const Format &value);

+/**
+ * Resolution.
+ */
+struct MYNTEYE_API Resolution {
+  /** Width */
+  std::uint16_t width;
+  /** Height */
+  std::uint16_t height;
+
+  bool operator==(const Resolution &other) const {
+    return width == other.width && height == other.height;
+  }
+  bool operator!=(const Resolution &other) const {
+    return !(*this == other);
+  }
+  bool operator<(const Resolution &other) const {
+    return (width * height) < (other.width * other.height);
+  }
+};
+
 /**
 * Stream request.
 */
@ -302,9 +357,21 @@ struct MYNTEYE_API StreamRequest {
  std::uint16_t height;
  /** Stream pixel format */
  Format format;
-  /** Stream frames per second (unused) */
+  /** Stream frames per second */
  std::uint16_t fps;

+  StreamRequest() {}
+
+  StreamRequest(
+      std::uint16_t width, std::uint16_t height, Format format,
+      std::uint16_t fps)
+      : width(width), height(height), format(format), fps(fps) {}
+
+  StreamRequest(const Resolution &res, Format format, std::uint16_t fps)
+      : width(res.width), height(res.height), format(format), fps(fps) {}
+
+  Resolution GetResolution() const { return {width, height}; }
+
  bool operator==(const StreamRequest &other) const {
    return width == other.width && height == other.height &&
           format == other.format && fps == other.fps;
@ -421,8 +488,8 @@ std::ostream &operator<<(std::ostream &os, const Extrinsics &ex);
 struct MYNTEYE_API ImgData {
  /** Image frame id */
  std::uint16_t frame_id;
-  /** Image timestamp in 0.01ms */
-  std::uint32_t timestamp;
+  /** Image timestamp in 1us */
+  std::uint64_t timestamp;
  /** Image exposure time, virtual value in [1, 480] */
  std::uint16_t exposure_time;

@ -453,10 +520,18 @@ struct MYNTEYE_API ImgData {
 * IMU data.
 */
 struct MYNTEYE_API ImuData {
-  /** Image frame id */
-  std::uint16_t frame_id;
-  /** IMU timestamp in 0.01ms */
-  std::uint32_t timestamp;
+  /** IMU frame id */
+  std::uint32_t frame_id;
+  /**
+   * IMU accel or gyro flag
+   *
+   *   0: accel and gyro are both valid
+   *   1: accel is valid
+   *   2: gyro is valid
+   */
+  std::uint8_t flag;
+  /** IMU timestamp in 1us */
+  std::uint64_t timestamp;
  /** IMU accelerometer data for 3-axis: X, Y, Z. */
  double accel[3];
  /** IMU gyroscope data for 3-axis: X, Y, Z. */
@ -465,7 +540,7 @@ struct MYNTEYE_API ImuData {
  double temperature;

  void Reset() {
-    frame_id = 0;
+    flag = 0;
    timestamp = 0;
    std::fill(accel, accel + 3, 0);
    std::fill(gyro, gyro + 3, 0);
--- a/mynteye-config.cmake.in
+++ b/mynteye-config.cmake.in
@ -13,6 +13,8 @@
 # limitations under the License.

@PACKAGE_INIT@
+set(mynteye_WITH_API @WITH_API@)
+set(mynteye_WITH_GLOG @WITH_GLOG@)

 set(mynteye_WITH_API @WITH_API@)
 set(mynteye_WITH_GLOG @WITH_GLOG@)
--- a/package.json
+++ b/package.json
@ -0,0 +1,37 @@
+{
+  "name": "mynt-eye-s-sdk",
+  "version": "1.0.0",
+  "description": "MYNT EYE S SDK",
+  "main": "index.js",
+  "directories": {
+    "doc": "doc",
+    "test": "test"
+  },
+  "dependencies": {},
+  "devDependencies": {
+    "@commitlint/cli": "^7.2.1",
+    "@commitlint/config-conventional": "^7.1.2",
+    "cz-conventional-changelog": "^2.1.0",
+    "husky": "^1.3.0"
+  },
+  "scripts": {
+    "test": "echo \"Error: no test specified\" && exit 1"
+  },
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/slightech/MYNT-EYE-S-SDK.git"
+  },
+  "keywords": [],
+  "author": "",
+  "license": "Apache-2.0",
+  "config": {
+    "commitizen": {
+      "path": "./node_modules/cz-conventional-changelog"
+    }
+  },
+  "husky": {
+    "hooks": {
+      "commit-msg": "commitlint -E HUSKY_GIT_PARAMS"
+    }
+  }
+}
--- a/samples/CMakeLists.txt
+++ b/samples/CMakeLists.txt
@ -53,6 +53,10 @@ message(STATUS "Found mynteye: ${mynteye_VERSION}")

 include(${PRO_DIR}/cmake/DetectOpenCV.cmake)

+if(mynteye_WITH_GLOG)
+  include(${PRO_DIR}/cmake/DetectGLog.cmake)
+endif()
+
 #LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)

 # targets
--- a/samples/api/camera.cc
+++ b/samples/api/camera.cc
@ -21,12 +21,13 @@ MYNTEYE_USE_NAMESPACE

 int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);

-  // api->SetOptionValue(Option::FRAME_RATE, 25);
-  // api->SetOptionValue(Option::IMU_FREQUENCY, 500);
-  api->SetOptionValue(Option::IR_CONTROL, 80);
  api->LogOptionInfos();

  std::size_t left_count = 0;
@ -55,8 +56,7 @@ int main(int argc, char *argv[]) {
    CHECK_NOTNULL(data.imu);
    ++imu_count;
    VLOG(2) << "Imu count: " << imu_count;
-    VLOG(2) << "  frame_id: " << data.imu->frame_id
-            << ", timestamp: " << data.imu->timestamp
+    VLOG(2) << ", timestamp: " << data.imu->timestamp
            << ", accel_x: " << data.imu->accel[0]
            << ", accel_y: " << data.imu->accel[1]
            << ", accel_z: " << data.imu->accel[2]
@ -106,8 +106,7 @@ int main(int argc, char *argv[]) {
    auto &&motion_datas = api->GetMotionDatas();
    motion_count += motion_datas.size();
    for (auto &&data : motion_datas) {
-      LOG(INFO) << "Imu frame_id: " << data.imu->frame_id
-                << ", timestamp: " << data.imu->timestamp
+      LOG(INFO) << ", timestamp: " << data.imu->timestamp
                << ", accel_x: " << data.imu->accel[0]
                << ", accel_y: " << data.imu->accel[1]
                << ", accel_z: " << data.imu->accel[2]
--- a/samples/api/get_depth_with_region.cc
+++ b/samples/api/get_depth_with_region.cc
@ -144,8 +144,12 @@ MYNTEYE_USE_NAMESPACE

 int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);

  api->SetOptionValue(Option::IR_CONTROL, 80);

--- a/samples/device/CMakeLists.txt
+++ b/samples/device/CMakeLists.txt
@ -14,6 +14,10 @@

 get_filename_component(DIR_NAME ${CMAKE_CURRENT_LIST_DIR} NAME)

+include_directories(
+  ${PRO_DIR}/src
+)
+
 set_outdir(
  "${OUT_DIR}/lib/${DIR_NAME}"
  "${OUT_DIR}/lib/${DIR_NAME}"
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@ -25,35 +25,19 @@ int main(int argc, char *argv[]) {
  glog_init _(argc, 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->LogOptionInfos();
+  if (!device) return 1;

-  // device->RunOptionAction(Option::ZERO_DRIFT_CALIBRATION);
+  bool ok;
+  auto &&request = device::select_request(device, &ok);
+  if (!ok) return 1;
+  device->ConfigStreamRequest(request);

  std::size_t left_count = 0;
  device->SetStreamCallback(
      Stream::LEFT, [&left_count](const device::StreamData &data) {
        CHECK_NOTNULL(data.img);
        ++left_count;
-        VLOG(2) << Stream::LEFT << ", count: " << left_count;
+        VLOG(2) << Stream::LEFT << "count: " << left_count;
        VLOG(2) << "  frame_id: " << data.img->frame_id
                << ", timestamp: " << data.img->timestamp
                << ", exposure_time: " << data.img->exposure_time;
@ -63,19 +47,19 @@ int main(int argc, char *argv[]) {
      Stream::RIGHT, [&right_count](const device::StreamData &data) {
        CHECK_NOTNULL(data.img);
        ++right_count;
-        VLOG(2) << Stream::RIGHT << ", count: " << right_count;
+        VLOG(2) << Stream::RIGHT << "count: " << right_count;
        VLOG(2) << "  frame_id: " << data.img->frame_id
                << ", timestamp: " << data.img->timestamp
                << ", exposure_time: " << data.img->exposure_time;
      });

  std::size_t imu_count = 0;
+
  device->SetMotionCallback([&imu_count](const device::MotionData &data) {
    CHECK_NOTNULL(data.imu);
    ++imu_count;
    VLOG(2) << "Imu count: " << imu_count;
-    VLOG(2) << "  frame_id: " << data.imu->frame_id
-            << ", timestamp: " << data.imu->timestamp
+    VLOG(2) << ", timestamp: " << data.imu->timestamp
            << ", accel_x: " << data.imu->accel[0]
            << ", accel_y: " << data.imu->accel[1]
            << ", accel_z: " << data.imu->accel[2]
@ -88,7 +72,6 @@ int main(int argc, char *argv[]) {
  // Enable this will cache the motion datas until you get them.
  device->EnableMotionDatas();
  device->Start(Source::ALL);
-
  cv::namedWindow("frame");

  std::size_t motion_count = 0;
@ -96,14 +79,13 @@ int main(int argc, char *argv[]) {
  while (true) {
    device->WaitForStreams();

-    device::StreamData left_data = device->GetLatestStreamData(Stream::LEFT);
-    device::StreamData right_data = device->GetLatestStreamData(Stream::RIGHT);
+    device::StreamData left_data = device->GetStreamData(Stream::LEFT);
+    device::StreamData right_data = device->GetStreamData(Stream::RIGHT);

    auto &&motion_datas = device->GetMotionDatas();
    motion_count += motion_datas.size();
    for (auto &&data : motion_datas) {
-      LOG(INFO) << "Imu frame_id: " << data.imu->frame_id
-                << ", timestamp: " << data.imu->timestamp
+      LOG(INFO) << "timestamp: " << data.imu->timestamp
                << ", accel_x: " << data.imu->accel[0]
                << ", accel_y: " << data.imu->accel[1]
                << ", accel_z: " << data.imu->accel[2]
@ -113,15 +95,39 @@ int main(int argc, char *argv[]) {
                << ", temperature: " << data.imu->temperature;
    }

-    cv::Mat left_img(
-        left_data.frame->height(), left_data.frame->width(), CV_8UC1,
-        left_data.frame->data());
-    cv::Mat right_img(
-        right_data.frame->height(), right_data.frame->width(), CV_8UC1,
-        right_data.frame->data());
-
    cv::Mat img;
-    cv::hconcat(left_img, right_img, img);
+
+    // TODO(Kalman): Extract into public or internal method
+    if (left_data.frame->format() == Format::GREY) {
+      cv::Mat left_img(
+          left_data.frame->height(), left_data.frame->width(), CV_8UC1,
+          left_data.frame->data());
+      cv::Mat right_img(
+          right_data.frame->height(), right_data.frame->width(), CV_8UC1,
+          right_data.frame->data());
+      cv::hconcat(left_img, right_img, img);
+    } else if (left_data.frame->format() == Format::YUYV) {
+      cv::Mat left_img(
+          left_data.frame->height(), left_data.frame->width(), CV_8UC2,
+          left_data.frame->data());
+      cv::Mat right_img(
+          right_data.frame->height(), right_data.frame->width(), CV_8UC2,
+          right_data.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_data.frame->format() == Format::BGR888) {
+      cv::Mat left_img(
+          left_data.frame->height(), left_data.frame->width(), CV_8UC3,
+          left_data.frame->data());
+      cv::Mat right_img(
+          right_data.frame->height(), right_data.frame->width(), CV_8UC3,
+          right_data.frame->data());
+      cv::hconcat(left_img, right_img, img);
+    } else {
+      return -1;
+    }
+
    cv::imshow("frame", img);

    char key = static_cast<char>(cv::waitKey(1));
@ -144,7 +150,7 @@ int main(int argc, char *argv[]) {
            << ", fps: " << (1000.f * right_count / elapsed_ms);
  LOG(INFO) << "Imu count: " << imu_count
            << ", hz: " << (1000.f * imu_count / elapsed_ms);
-  // LOG(INFO) << "Motion count: " << motion_count
-  //           << ", hz: " << (1000.f * motion_count / elapsed_ms);
+  LOG(INFO) << "Motion count: " << motion_count
+            << ", hz: " << (1000.f * motion_count / elapsed_ms);
  return 0;
 }
--- a/samples/tutorials/CMakeLists.txt
+++ b/samples/tutorials/CMakeLists.txt
@ -16,6 +16,7 @@ get_filename_component(DIR_NAME ${CMAKE_CURRENT_LIST_DIR} NAME)

 include_directories(
  ${CMAKE_CURRENT_SOURCE_DIR}
+  ${PRO_DIR}/src
 )

 set_outdir(
@ -123,7 +124,6 @@ make_executable2(ctrl_manual_exposure
  SRCS control/manual_exposure.cc util/cv_painter.cc
  WITH_OPENCV
 )
-make_executable2(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV)

 # intermediate level

--- a/samples/tutorials/control/auto_exposure.cc
+++ b/samples/tutorials/control/auto_exposure.cc
@ -22,18 +22,24 @@ MYNTEYE_USE_NAMESPACE

 int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);

  // auto-exposure: 0
  api->SetOptionValue(Option::EXPOSURE_MODE, 0);

-  // max_gain: range [0,48], default 48
-  api->SetOptionValue(Option::MAX_GAIN, 48);
-  // max_exposure_time: range [0,240], default 240
-  api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 240);
-  // desired_brightness: range [0,255], default 192
-  api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 192);
+  // max_gain: range [0,255], default 8
+  api->SetOptionValue(Option::MAX_GAIN, 8);
+  // max_exposure_time: range [0,1000], default 333
+  api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 333);
+  // desired_brightness: range [1,255], default 122
+  api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 122);
+  // min_exposure_time: range [0,1000], default 0
+  api->SetOptionValue(Option::MIN_EXPOSURE_TIME, 0);

  LOG(INFO) << "Enable auto-exposure";
  LOG(INFO) << "Set MAX_GAIN to " << api->GetOptionValue(Option::MAX_GAIN);
@ -41,10 +47,12 @@ int main(int argc, char *argv[]) {
            << api->GetOptionValue(Option::MAX_EXPOSURE_TIME);
  LOG(INFO) << "Set DESIRED_BRIGHTNESS to "
            << api->GetOptionValue(Option::DESIRED_BRIGHTNESS);
+  LOG(INFO) << "Set MIN_EXPOSURE_TIME to "
+            << api->GetOptionValue(Option::MIN_EXPOSURE_TIME);

  api->Start(Source::VIDEO_STREAMING);

-  CVPainter painter(api->GetOptionValue(Option::FRAME_RATE));
+  CVPainter painter(30);

  cv::namedWindow("frame");

--- a/samples/tutorials/control/framerate.cc
+++ b/samples/tutorials/control/framerate.cc
@ -23,20 +23,12 @@ MYNTEYE_USE_NAMESPACE

 int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;

-  // Attention: must set FRAME_RATE and IMU_FREQUENCY together, otherwise won't
-  // succeed.
-
-  // FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60
-  api->SetOptionValue(Option::FRAME_RATE, 25);
-  // IMU_FREQUENCY values: 100, 200, 250, 333, 500
-  api->SetOptionValue(Option::IMU_FREQUENCY, 500);
-
-  LOG(INFO) << "Set FRAME_RATE to " << api->GetOptionValue(Option::FRAME_RATE);
-  LOG(INFO) << "Set IMU_FREQUENCY to "
-            << api->GetOptionValue(Option::IMU_FREQUENCY);
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);

  // Count img
  std::atomic_uint img_count(0);
@ -46,13 +38,6 @@ int main(int argc, char *argv[]) {
        ++img_count;
      });

-  // Count imu
-  std::atomic_uint imu_count(0);
-  api->SetMotionCallback([&imu_count](const api::MotionData &data) {
-    CHECK_NOTNULL(data.imu);
-    ++imu_count;
-  });
-
  api->Start(Source::ALL);

  cv::namedWindow("frame");
@ -85,7 +70,5 @@ int main(int argc, char *argv[]) {
            << ", cost: " << elapsed_ms << "ms";
  LOG(INFO) << "Img count: " << img_count
            << ", fps: " << (1000.f * img_count / elapsed_ms);
-  LOG(INFO) << "Imu count: " << imu_count
-            << ", hz: " << (1000.f * imu_count / elapsed_ms);
  return 0;
 }
--- a/samples/tutorials/control/imu_range.cc
+++ b/samples/tutorials/control/imu_range.cc
@ -23,12 +23,16 @@ MYNTEYE_USE_NAMESPACE

 int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;

-  // ACCELEROMETER_RANGE values: 4, 8, 16, 32
-  api->SetOptionValue(Option::ACCELEROMETER_RANGE, 8);
-  // GYROSCOPE_RANGE values: 500, 1000, 2000, 4000
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+
+  // ACCELEROMETER_RANGE values: 6, 12, 24, 32
+  api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
+  // GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000
  api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);

  LOG(INFO) << "Set ACCELEROMETER_RANGE to "
--- a/samples/tutorials/control/infrared.cc
+++ b/samples/tutorials/control/infrared.cc
@ -1,61 +0,0 @@
-// Copyright 2018 Slightech Co., Ltd. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#include <opencv2/highgui/highgui.hpp>
-
-#include "mynteye/logger.h"
-#include "mynteye/api/api.h"
-
-MYNTEYE_USE_NAMESPACE
-
-int main(int argc, char *argv[]) {
-  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
-
-  // Detect infrared add-ons
-  LOG(INFO) << "Support infrared: " << std::boolalpha
-            << api->Supports(AddOns::INFRARED);
-  LOG(INFO) << "Support infrared2: " << std::boolalpha
-            << api->Supports(AddOns::INFRARED2);
-
-  // Get infrared intensity range
-  auto &&info = api->GetOptionInfo(Option::IR_CONTROL);
-  LOG(INFO) << Option::IR_CONTROL << ": {" << info << "}";
-
-  // Set infrared intensity value
-  api->SetOptionValue(Option::IR_CONTROL, 80);
-
-  api->Start(Source::VIDEO_STREAMING);
-
-  cv::namedWindow("frame");
-
-  while (true) {
-    api->WaitForStreams();
-
-    auto &&left_data = api->GetStreamData(Stream::LEFT);
-    auto &&right_data = api->GetStreamData(Stream::RIGHT);
-
-    cv::Mat img;
-    cv::hconcat(left_data.frame, right_data.frame, img);
-    cv::imshow("frame", img);
-
-    char key = static_cast<char>(cv::waitKey(1));
-    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
-      break;
-    }
-  }
-
-  api->Stop(Source::VIDEO_STREAMING);
-  return 0;
-}
--- a/samples/tutorials/control/manual_exposure.cc
+++ b/samples/tutorials/control/manual_exposure.cc
@ -22,27 +22,25 @@ MYNTEYE_USE_NAMESPACE

 int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);

  // manual-exposure: 1
  api->SetOptionValue(Option::EXPOSURE_MODE, 1);

-  // gain: range [0,48], default 24
-  api->SetOptionValue(Option::GAIN, 24);
  // brightness/exposure_time: range [0,240], default 120
  api->SetOptionValue(Option::BRIGHTNESS, 120);
-  // contrast/black_level_calibration: range [0,255], default 127
-  api->SetOptionValue(Option::CONTRAST, 127);

  LOG(INFO) << "Enable manual-exposure";
-  LOG(INFO) << "Set GAIN to " << api->GetOptionValue(Option::GAIN);
  LOG(INFO) << "Set BRIGHTNESS to " << api->GetOptionValue(Option::BRIGHTNESS);
-  LOG(INFO) << "Set CONTRAST to " << api->GetOptionValue(Option::CONTRAST);

  api->Start(Source::VIDEO_STREAMING);

-  CVPainter painter(api->GetOptionValue(Option::FRAME_RATE));
+  CVPainter painter(30);

  cv::namedWindow("frame");

--- a/samples/tutorials/data/get_depth.cc
+++ b/samples/tutorials/data/get_depth.cc
@ -19,8 +19,12 @@ MYNTEYE_USE_NAMESPACE

 int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);

  api->EnableStreamData(Stream::DEPTH);

--- a/samples/tutorials/data/get_device_info.cc
+++ b/samples/tutorials/data/get_device_info.cc
@ -18,8 +18,7 @@ MYNTEYE_USE_NAMESPACE

 int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;

  LOG(INFO) << "Device name: " << api->GetInfo(Info::DEVICE_NAME);
  LOG(INFO) << "Serial number: " << api->GetInfo(Info::SERIAL_NUMBER);
--- a/samples/tutorials/data/get_disparity.cc
+++ b/samples/tutorials/data/get_disparity.cc
@ -19,8 +19,12 @@ MYNTEYE_USE_NAMESPACE

 int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);

  // api->EnableStreamData(Stream::DISPARITY);
  api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
--- a/samples/tutorials/data/get_from_callbacks.cc
+++ b/samples/tutorials/data/get_from_callbacks.cc
@ -27,8 +27,12 @@ MYNTEYE_USE_NAMESPACE

 int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);

  // Attention: must not block the callbacks.

--- a/samples/tutorials/data/get_img_params.cc
+++ b/samples/tutorials/data/get_img_params.cc
@ -18,8 +18,12 @@ MYNTEYE_USE_NAMESPACE

 int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);

  LOG(INFO) << "Intrinsics left: {" << api->GetIntrinsics(Stream::LEFT) << "}";
  LOG(INFO) << "Intrinsics right: {" << api->GetIntrinsics(Stream::RIGHT)
--- a/samples/tutorials/data/get_imu.cc
+++ b/samples/tutorials/data/get_imu.cc
@ -22,8 +22,12 @@ MYNTEYE_USE_NAMESPACE

 int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);

  // Enable this will cache the motion datas until you get them.
  api->EnableMotionDatas();
--- a/samples/tutorials/data/get_imu_params.cc
+++ b/samples/tutorials/data/get_imu_params.cc
@ -18,8 +18,7 @@ MYNTEYE_USE_NAMESPACE

 int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;

  LOG(INFO) << "Motion intrinsics: {" << api->GetMotionIntrinsics() << "}";
  LOG(INFO) << "Motion extrinsics left to imu: {"
--- a/samples/tutorials/data/get_points.cc
+++ b/samples/tutorials/data/get_points.cc
@ -21,8 +21,12 @@ MYNTEYE_USE_NAMESPACE

 int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);

  api->EnableStreamData(Stream::POINTS);

--- a/samples/tutorials/data/get_stereo.cc
+++ b/samples/tutorials/data/get_stereo.cc
@ -19,8 +19,12 @@ MYNTEYE_USE_NAMESPACE

 int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);

  api->Start(Source::VIDEO_STREAMING);

--- a/samples/tutorials/data/get_stereo_rectified.cc
+++ b/samples/tutorials/data/get_stereo_rectified.cc
@ -19,8 +19,12 @@ MYNTEYE_USE_NAMESPACE

 int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);

  api->EnableStreamData(Stream::LEFT_RECTIFIED);
  api->EnableStreamData(Stream::RIGHT_RECTIFIED);
--- a/samples/tutorials/data/get_with_plugin.cc
+++ b/samples/tutorials/data/get_with_plugin.cc
@ -19,8 +19,12 @@ MYNTEYE_USE_NAMESPACE

 int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);

  api->EnablePlugin("plugins/linux-x86_64/libplugin_g_cuda9.1_opencv3.4.0.so");

--- a/samples/tutorials/intermediate/get_depth_and_points.cc
+++ b/samples/tutorials/intermediate/get_depth_and_points.cc
@ -148,8 +148,12 @@ MYNTEYE_USE_NAMESPACE

 int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);

  api->SetOptionValue(Option::IR_CONTROL, 80);

--- a/samples/tutorials/util/cv_painter.cc
+++ b/samples/tutorials/util/cv_painter.cc
@ -117,7 +117,7 @@ cv::Rect CVPainter::DrawImuData(
  if (gravity == BOTTOM_LEFT || gravity == BOTTOM_RIGHT)
    sign = -1;

-  Clear(ss) << "frame_id: " << data.frame_id << ", stamp: " << data.timestamp
+  Clear(ss) << "stamp: " << data.timestamp
            << ", temp: " << fmt_temp << data.temperature;
  cv::Rect rect_i = DrawText(img, ss.str(), gravity, 5);

--- a/samples/uvc/camera.cc
+++ b/samples/uvc/camera.cc
@ -108,7 +108,7 @@ int main(int argc, char *argv[]) {
  const auto frame_empty = [&frame]() { return frame == nullptr; };

  uvc::set_device_mode(
-      *device, 752, 480, static_cast<int>(Format::YUYV), 25,
+      *device, 1280, 400, static_cast<int>(Format::BGR888), 20,
      [&mtx, &cv, &frame, &frame_ready](
          const void *data, std::function<void()> continuation) {
        // reinterpret_cast<const std::uint8_t *>(data);
@ -143,8 +143,7 @@ int main(int argc, char *argv[]) {
    }

    // only lastest frame is valid
-    cv::Mat img(480, 752, CV_8UC2, const_cast<void *>(frame->data));
-    cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
+    cv::Mat img(400, 1280, CV_8UC3, const_cast<void *>(frame->data));
    cv::imshow("frame", img);

    frame = nullptr;
--- a/scripts/init.sh
+++ b/scripts/init.sh
@ -15,6 +15,7 @@

 # _VERBOSE_=1
 # _INIT_LINTER_=1
+# _INIT_COMMITIZEN_=1
 # _FORCE_INSRALL_=1
 _INSTALL_OPTIONS_=$@

--- a/scripts/init_tools.sh
+++ b/scripts/init_tools.sh
@ -15,6 +15,7 @@

 _INIT_BUILD_=1
 # _INIT_LINTER_=1
+# _INIT_COMMITIZEN_=1
 # _FORCE_INSRALL_=1
 # _INSTALL_OPTIONS_=-y

@ -146,6 +147,7 @@ else  # unexpected
  exit 1
 fi

+
 ## init linter - optional

 if [ -n "${_INIT_LINTER_}" ]; then
@ -217,3 +219,30 @@ else
 fi

 fi  # _INIT_LINTER_
+
+
+## init commitizen - optional
+
+if [ -n "${_INIT_COMMITIZEN_}" ]; then
+
+if _detect_cmd npm; then
+  _echo_d "npm install commitizen -g; npm install"
+  npm install commitizen -g; npm install
+  # if _detect_cmd node; then
+  #   commitizen init cz-conventional-changelog --save-dev --save-exact
+  #   npm install --save-dev @commitlint/{config-conventional,cli}
+  #   npm install husky --save-dev
+  # else
+  #   _echo_en "Skipped commitizen init, as node not found"
+  # fi
+else
+  _echo_en "Skipped npm install packages, as npm not found"
+  _echo
+  _echo_e "Download Node.js from https://nodejs.org/, then add to \`~/.bashrc\`."
+  _echo
+  _echo_e "  export PATH=\"/home/john/node-v10.14.2-linux-x64/bin:\$PATH\""
+  _echo
+  _echo_e "p.s. not \"apt-get install npm\", it's too old."
+fi
+
+fi  # _INIT_COMMITIZEN_
--- a/src/main.cc
+++ b/src/main.cc
@ -16,12 +16,12 @@
 #if defined(WIN32) || defined(_WIN32) || defined(__WIN32__)
 #define GLOG_NO_ABBREVIATED_SEVERITIES
 #endif
-#include <glog/logging.h>

 #ifdef HAVE_LIB_GFLAGS
 #include <gflags/gflags.h>
 #endif

+#include "mynteye/logger.h"
 #include "mynteye/mynteye.h"

 int main(int /*argc*/, char *argv[]) {
--- a/src/mynteye/api/api.cc
+++ b/src/mynteye/api/api.cc
@ -26,7 +26,6 @@
 #include "mynteye/api/plugin.h"
 #include "mynteye/api/synthetic.h"
 #include "mynteye/device/device.h"
-#include "mynteye/device/device_s.h"
 #include "mynteye/device/utils.h"

 #if defined(WITH_FILESYSTEM) && defined(WITH_NATIVE_FILESYSTEM)
@ -210,26 +209,7 @@ std::vector<std::string> get_plugin_paths() {

 API::API(std::shared_ptr<Device> device) : device_(device) {
  VLOG(2) << __func__;
-  if (std::dynamic_pointer_cast<StandardDevice>(device_) != nullptr) {
-    bool in_l_ok, in_r_ok, ex_r2l_ok;
-    device_->GetIntrinsics(Stream::LEFT, &in_l_ok);
-    device_->GetIntrinsics(Stream::RIGHT, &in_r_ok);
-    device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT, &ex_r2l_ok);
-    if (!in_l_ok || !in_r_ok || !ex_r2l_ok) {
-#if defined(WITH_DEVICE_INFO_REQUIRED)
-      LOG(FATAL)
-#else
-      LOG(WARNING)
-#endif
-          << "Image params not found, but we need it to process the "
-             "images. Please `make tools` and use `img_params_writer` "
-             "to write the image params. If you update the SDK from "
-             "1.x, the `SN*.conf` is the file contains them. Besides, "
-             "you could also calibrate them by yourself. Read the guide "
-             "doc (https://github.com/slightech/MYNT-EYE-S-SDK-Guide) "
-             "to learn more.";
-    }
-  }
+  // std::dynamic_pointer_cast<StandardDevice>(device_);
  synthetic_.reset(new Synthetic(this));
 }

@ -237,29 +217,19 @@ API::~API() {
  VLOG(2) << __func__;
 }

-std::shared_ptr<API> API::Create() {
-  return Create(device::select());
-}
-
-std::shared_ptr<API> API::Create(std::shared_ptr<Device> device) {
-  if (!device)
-    return nullptr;
-  return std::make_shared<API>(device);
-}
-
 std::shared_ptr<API> API::Create(int argc, char *argv[]) {
-  static glog_init _(argc, argv);
  auto &&device = device::select();
-  if (!device)
-    return nullptr;
-  return std::make_shared<API>(device);
+  if (!device) return nullptr;
+  return Create(argc, argv, device);
 }

 std::shared_ptr<API> API::Create(
-    int argc, char *argv[], std::shared_ptr<Device> device) {
+    int argc, char *argv[], const std::shared_ptr<Device> &device) {
  static glog_init _(argc, argv);
-  if (!device)
-    return nullptr;
+  return Create(device);
+}
+
+std::shared_ptr<API> API::Create(const std::shared_ptr<Device> &device) {
  return std::make_shared<API>(device);
 }

@ -283,6 +253,10 @@ bool API::Supports(const AddOns &addon) const {
  return device_->Supports(addon);
 }

+StreamRequest API::SelectStreamRequest(bool *ok) const {
+  return device::select_request(device_, ok);
+}
+
 const std::vector<StreamRequest> &API::GetStreamRequests(
    const Capabilities &capability) const {
  return device_->GetStreamRequests(capability);
@ -291,6 +265,29 @@ const std::vector<StreamRequest> &API::GetStreamRequests(
 void API::ConfigStreamRequest(
    const Capabilities &capability, const StreamRequest &request) {
  device_->ConfigStreamRequest(capability, request);
+  synthetic_->NotifyImageParamsChanged();
+}
+
+const StreamRequest &API::GetStreamRequest(
+    const Capabilities &capability) const {
+  return device_->GetStreamRequest(capability);
+}
+
+const std::vector<StreamRequest> &API::GetStreamRequests() const {
+  return device_->GetStreamRequests();
+}
+
+void API::ConfigStreamRequest(const StreamRequest &request) {
+  device_->ConfigStreamRequest(request);
+  synthetic_->NotifyImageParamsChanged();
+}
+
+const StreamRequest &API::GetStreamRequest() const {
+  return device_->GetStreamRequest();
+}
+
+std::shared_ptr<DeviceInfo> API::GetInfo() const {
+  return device_->GetInfo();
 }

 std::string API::GetInfo(const Info &info) const {
@ -450,4 +447,23 @@ std::shared_ptr<Device> API::device() {
  return device_;
 }

+// TODO(Kalman): Call this function in the appropriate place
+void API::CheckImageParams() {
+  if (device_ != nullptr) {
+    bool in_l_ok, in_r_ok, ex_l2r_ok;
+    device_->GetIntrinsics(Stream::LEFT, &in_l_ok);
+    device_->GetIntrinsics(Stream::RIGHT, &in_r_ok);
+    device_->GetExtrinsics(Stream::LEFT, Stream::RIGHT, &ex_l2r_ok);
+    if (!in_l_ok || !in_r_ok || !ex_l2r_ok) {
+      LOG(FATAL) << "Image params not found, but we need it to process the "
+                    "images. Please `make tools` and use `img_params_writer` "
+                    "to write the image params. If you update the SDK from "
+                    "1.x, the `SN*.conf` is the file contains them. Besides, "
+                    "you could also calibrate them by yourself. Read the guide "
+                    "doc (https://github.com/slightech/MYNT-EYE-SDK-2-Guide) "
+                    "to learn more.";
+    }
+  }
+}
+
 MYNTEYE_END_NAMESPACE
--- a/src/mynteye/api/processor/rectify_processor.cc
+++ b/src/mynteye/api/processor/rectify_processor.cc
@ -27,11 +27,9 @@ const char RectifyProcessor::NAME[] = "RectifyProcessor";

 RectifyProcessor::RectifyProcessor(
    std::shared_ptr<Device> device, std::int32_t proc_period)
-    : Processor(std::move(proc_period)) {
+    : Processor(std::move(proc_period)), device_(device) {
  VLOG(2) << __func__ << ": proc_period=" << proc_period;
-  InitParams(
-      device->GetIntrinsics(Stream::LEFT), device->GetIntrinsics(Stream::RIGHT),
-      device->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
+  NotifyImageParamsChanged();
 }

 RectifyProcessor::~RectifyProcessor() {
@ -42,6 +40,13 @@ std::string RectifyProcessor::Name() {
  return NAME;
 }

+void RectifyProcessor::NotifyImageParamsChanged() {
+  InitParams(
+      device_->GetIntrinsics(Stream::LEFT),
+      device_->GetIntrinsics(Stream::RIGHT),
+      device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
+}
+
 Object *RectifyProcessor::OnCreateOutput() {
  return new ObjMat2();
 }
--- a/src/mynteye/api/processor/rectify_processor.h
+++ b/src/mynteye/api/processor/rectify_processor.h
@ -37,6 +37,8 @@ class RectifyProcessor : public Processor {

  std::string Name() override;

+  void NotifyImageParamsChanged();
+
  cv::Mat R1, P1, R2, P2, Q;
  cv::Mat map11, map12, map21, map22;

@ -48,6 +50,8 @@ class RectifyProcessor : public Processor {
 private:
  void InitParams(
      Intrinsics in_left, Intrinsics in_right, Extrinsics ex_right_to_left);
+
+  std::shared_ptr<Device> device_;
 };

 MYNTEYE_END_NAMESPACE
--- 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"
@ -39,9 +41,16 @@ MYNTEYE_BEGIN_NAMESPACE
 namespace {

 cv::Mat frame2mat(const std::shared_ptr<device::Frame> &frame) {
-  // TODO(JohnZhao) Support different format frame to cv::Mat
-  CHECK_EQ(frame->format(), Format::GREY);
-  return cv::Mat(frame->height(), frame->width(), CV_8UC1, frame->data());
+  if (frame->format() == Format::YUYV) {
+    cv::Mat img(frame->height(), frame->width(), CV_8UC2, frame->data());
+    cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
+    return img;
+  } else if (frame->format() == Format::BGR888) {
+    cv::Mat img(frame->height(), frame->width(), CV_8UC3, frame->data());
+    return img;
+  } else {  // Format::GRAY
+    return cv::Mat(frame->height(), frame->width(), CV_8UC1, frame->data());
+  }
 }

 api::StreamData data2api(const device::StreamData &data) {
@ -74,6 +83,11 @@ Synthetic::~Synthetic() {
  }
 }

+void Synthetic::NotifyImageParamsChanged() {
+  auto &&processor = find_processor<RectifyProcessor>(processor_);
+  if (processor) processor->NotifyImageParamsChanged();
+}
+
 bool Synthetic::Supports(const Stream &stream) const {
  return stream_supports_mode_.find(stream) != stream_supports_mode_.end();
 }
@ -152,7 +166,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
  auto &&mode = GetStreamEnabledMode(stream);
  if (mode == MODE_NATIVE) {
    auto &&device = api_->device();
-    return data2api(device->GetLatestStreamData(stream));
+    return data2api(device->GetStreamData(stream));
  } else if (mode == MODE_SYNTHETIC) {
    if (stream == Stream::LEFT_RECTIFIED || stream == Stream::RIGHT_RECTIFIED) {
      static std::shared_ptr<ObjMat2> output = nullptr;
@ -302,42 +316,35 @@ void Synthetic::EnableStreamData(const Stream &stream, std::uint32_t depth) {
        break;
      stream_enabled_mode_[stream] = MODE_SYNTHETIC;
      CHECK(ActivateProcessor<RectifyProcessor>());
-    }
-      return;
+    } return;
    case Stream::RIGHT_RECTIFIED: {
      if (!IsStreamDataEnabled(Stream::RIGHT))
        break;
      stream_enabled_mode_[stream] = MODE_SYNTHETIC;
      CHECK(ActivateProcessor<RectifyProcessor>());
-    }
-      return;
+    } return;
    case Stream::DISPARITY: {
      stream_enabled_mode_[stream] = MODE_SYNTHETIC;
      EnableStreamData(Stream::LEFT_RECTIFIED, depth + 1);
      EnableStreamData(Stream::RIGHT_RECTIFIED, depth + 1);
      CHECK(ActivateProcessor<DisparityProcessor>());
-    }
-      return;
+    } return;
    case Stream::DISPARITY_NORMALIZED: {
      stream_enabled_mode_[stream] = MODE_SYNTHETIC;
      EnableStreamData(Stream::DISPARITY, depth + 1);
      CHECK(ActivateProcessor<DisparityNormalizedProcessor>());
-    }
-      return;
+    } return;
    case Stream::POINTS: {
      stream_enabled_mode_[stream] = MODE_SYNTHETIC;
      EnableStreamData(Stream::DISPARITY, depth + 1);
      CHECK(ActivateProcessor<PointsProcessor>());
-    }
-      return;
+    } return;
    case Stream::DEPTH: {
      stream_enabled_mode_[stream] = MODE_SYNTHETIC;
      EnableStreamData(Stream::POINTS, depth + 1);
      CHECK(ActivateProcessor<DepthProcessor>());
-    }
-      return;
-    default:
-      break;
+    } return;
+    default: break;
  }
  if (depth == 0) {
    LOG(WARNING) << "Enable stream data of " << stream << " failed";
@ -390,8 +397,7 @@ void Synthetic::DisableStreamData(const Stream &stream, std::uint32_t depth) {
      case Stream::DEPTH: {
        DeactivateProcessor<DepthProcessor>();
      } break;
-      default:
-        return;
+      default: return;
    }
    if (depth > 0) {
      LOG(WARNING) << "Disable synthetic stream data of " << stream << " too";
--- a/src/mynteye/api/synthetic.h
+++ b/src/mynteye/api/synthetic.h
@ -43,6 +43,8 @@ class Synthetic {
  explicit Synthetic(API *api);
  ~Synthetic();

+  void NotifyImageParamsChanged();
+
  bool Supports(const Stream &stream) const;
  mode_t SupportsMode(const Stream &stream) const;

--- a/src/mynteye/device/channels.cc
+++ b/src/mynteye/device/channels.cc
@ -19,6 +19,7 @@
 #include <iterator>
 #include <sstream>
 #include <stdexcept>
+#include <vector>

 #include "mynteye/logger.h"
 #include "mynteye/util/strings.h"
@ -30,12 +31,12 @@ MYNTEYE_BEGIN_NAMESPACE

 namespace {

-const uvc::xu mynteye_xu = {3,
-                            2,
-                            {0x947a6d9f,
-                             0x8a2f,
-                             0x418d,
-                             {0x85, 0x9e, 0x6c, 0x9a, 0xa0, 0x38, 0x10, 0x14}}};
+const uvc::xu mynteye_xu = {3, 2,
+  {
+    0x947a6d9f, 0x8a2f, 0x418d,
+    {0x85, 0x9e, 0x6c, 0x9a, 0xa0, 0x38, 0x10, 0x14}
+  }
+};

 int XuCamCtrlId(Option option) {
  switch (option) {
@ -63,12 +64,21 @@ int XuCamCtrlId(Option option) {
    case Option::FRAME_RATE:
      return 7;
      break;
+    case Option::MIN_EXPOSURE_TIME:
+      return 8;
+      break;
    case Option::ACCELEROMETER_RANGE:
      return 9;
      break;
    case Option::GYROSCOPE_RANGE:
      return 10;
      break;
+    case Option::ACCELEROMETER_LOW_PASS_FILTER:
+      return 11;
+      break;
+    case Option::GYROSCOPE_LOW_PASS_FILTER:
+      return 12;
+      break;
    default:
      LOG(FATAL) << "No cam ctrl id for " << option;
  }
@ -92,7 +102,7 @@ void CheckSpecVersion(const Version *spec_version) {
    LOG(FATAL) << "Spec version must be specified";
  }

-  std::vector<std::string> spec_versions{"1.0"};
+  std::vector<std::string> spec_versions{"1.0", "1.1"};
  for (auto &&spec_ver : spec_versions) {
    if (*spec_version == Version(spec_ver)) {
      return;  // supported
@ -109,12 +119,14 @@ void CheckSpecVersion(const Version *spec_version) {

 }  // namespace

-Channels::Channels(std::shared_ptr<uvc::device> device)
-    : device_(device),
-      is_imu_tracking_(false),
-      imu_track_stop_(false),
-      imu_sn_(0),
-      imu_callback_(nullptr) {
+Channels::Channels(const std::shared_ptr<uvc::device> &device,
+    const std::shared_ptr<ChannelsAdapter> &adapter)
+  : device_(device),
+    adapter_(adapter),
+    is_imu_tracking_(false),
+    imu_track_stop_(false),
+    imu_sn_(0),
+    imu_callback_(nullptr) {
  VLOG(2) << __func__;
  UpdateControlInfos();
 }
@ -124,6 +136,14 @@ Channels::~Channels() {
  StopImuTracking();
 }

+std::int32_t Channels::GetAccelRangeDefault() {
+  return adapter_->GetAccelRangeDefault();
+}
+
+std::int32_t Channels::GetGyroRangeDefault() {
+  return adapter_->GetGyroRangeDefault();
+}
+
 void Channels::LogControlInfos() const {
  for (auto &&it = control_infos_.begin(); it != control_infos_.end(); it++) {
    LOG(INFO) << it->first << ": min=" << it->second.min
@ -133,17 +153,23 @@ void Channels::LogControlInfos() const {
 }

 void Channels::UpdateControlInfos() {
-  for (auto &&option : std::vector<Option>{Option::GAIN, Option::BRIGHTNESS,
-                                           Option::CONTRAST}) {
-    control_infos_[option] = PuControlInfo(option);
+  auto &&supports = adapter_->GetOptionSupports();
+  for (auto &&option : std::vector<Option>{
+      Option::GAIN, Option::BRIGHTNESS, Option::CONTRAST}) {
+    if (supports.find(option) != supports.end())
+      control_infos_[option] = PuControlInfo(option);
  }

  for (auto &&option : std::vector<Option>{
-           Option::FRAME_RATE, Option::IMU_FREQUENCY, Option::EXPOSURE_MODE,
-           Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
-           Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL, Option::HDR_MODE,
-           Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE}) {
-    control_infos_[option] = XuControlInfo(option);
+      Option::FRAME_RATE, Option::IMU_FREQUENCY,
+      Option::EXPOSURE_MODE, Option::MAX_GAIN,
+      Option::MAX_EXPOSURE_TIME, Option::MIN_EXPOSURE_TIME,
+      Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL,
+      Option::HDR_MODE, Option::ACCELEROMETER_RANGE,
+      Option::GYROSCOPE_RANGE, Option::ACCELEROMETER_LOW_PASS_FILTER,
+      Option::GYROSCOPE_LOW_PASS_FILTER}) {
+    if (supports.find(option) != supports.end())
+      control_infos_[option] = XuControlInfo(option);
  }

  if (VLOG_IS_ON(2)) {
@ -184,8 +210,11 @@ std::int32_t Channels::GetControlValue(const Option &option) const {
    case Option::DESIRED_BRIGHTNESS:
    case Option::IR_CONTROL:
    case Option::HDR_MODE:
+    case Option::MIN_EXPOSURE_TIME:
    case Option::ACCELEROMETER_RANGE:
    case Option::GYROSCOPE_RANGE:
+    case Option::ACCELEROMETER_LOW_PASS_FILTER:
+    case Option::GYROSCOPE_LOW_PASS_FILTER:
      return XuCamCtrlGet(option);
    case Option::ZERO_DRIFT_CALIBRATION:
    case Option::ERASE_CHIP:
@ -242,12 +271,22 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
      XuCamCtrlSet(option, value);
    } break;
    case Option::ACCELEROMETER_RANGE: {
-      if (!in_range() || !in_values({4, 8, 16, 32}))
+      if (!in_range() || !in_values(adapter_->GetAccelRangeValues()))
        break;
      XuCamCtrlSet(option, value);
    } break;
    case Option::GYROSCOPE_RANGE: {
-      if (!in_range() || !in_values({500, 1000, 2000, 4000}))
+      if (!in_range() || !in_values(adapter_->GetGyroRangeValues()))
+        break;
+      XuCamCtrlSet(option, value);
+    } break;
+    case Option::ACCELEROMETER_LOW_PASS_FILTER: {
+      if (!in_range() || !in_values({0, 1, 2}))
+        break;
+      XuCamCtrlSet(option, value);
+    } break;
+    case Option::GYROSCOPE_LOW_PASS_FILTER: {
+      if (!in_range() || !in_values({23, 64}))
        break;
      XuCamCtrlSet(option, value);
    } break;
@ -256,7 +295,8 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
    case Option::MAX_EXPOSURE_TIME:
    case Option::DESIRED_BRIGHTNESS:
    case Option::IR_CONTROL:
-    case Option::HDR_MODE: {
+    case Option::HDR_MODE:
+    case Option::MIN_EXPOSURE_TIME: {
      if (!in_range())
        break;
      XuCamCtrlSet(option, value);
@ -287,8 +327,11 @@ bool Channels::RunControlAction(const Option &option) const {
    case Option::DESIRED_BRIGHTNESS:
    case Option::IR_CONTROL:
    case Option::HDR_MODE:
+    case Option::MIN_EXPOSURE_TIME:
    case Option::ACCELEROMETER_RANGE:
    case Option::GYROSCOPE_RANGE:
+    case Option::ACCELEROMETER_LOW_PASS_FILTER:
+    case Option::GYROSCOPE_LOW_PASS_FILTER:
      LOG(WARNING) << option << " run action useless";
      return false;
    default:
@ -318,6 +361,10 @@ void Channels::DoImuTrack() {
    return;
  }

+  if (res_packet.packets.back().count == 0) {
+    return;
+  }
+
  VLOG(2) << "Imu req sn: " << imu_sn_ << ", res count: " << []() {
    std::size_t n = 0;
    for (auto &&packet : res_packet.packets) {
@ -383,174 +430,6 @@ void Channels::StopImuTracking() {
  }
 }

-namespace {
-
-template <typename T>
-T _from_data(const std::uint8_t *data) {
-  std::size_t size = sizeof(T) / sizeof(std::uint8_t);
-  T value = 0;
-  for (std::size_t i = 0; i < size; i++) {
-    value |= data[i] << (8 * (size - i - 1));
-  }
-  return value;
-}
-
-template <>
-double _from_data(const std::uint8_t *data) {
-  return *(reinterpret_cast<const double *>(data));
-}
-
-std::string _from_data(const std::uint8_t *data, std::size_t count) {
-  std::string s(reinterpret_cast<const char *>(data), count);
-  strings::trim(s);
-  return s;
-}
-
-std::size_t from_data(Channels::device_info_t *info, const std::uint8_t *data) {
-  std::size_t i = 4;  // skip vid, pid
-  // name, 16
-  info->name = _from_data(data + i, 16);
-  i += 16;
-  // serial_number, 16
-  info->serial_number = _from_data(data + i, 16);
-  i += 16;
-  // firmware_version, 2
-  info->firmware_version.set_major(data[i]);
-  info->firmware_version.set_minor(data[i + 1]);
-  i += 2;
-  // hardware_version, 3
-  info->hardware_version.set_major(data[i]);
-  info->hardware_version.set_minor(data[i + 1]);
-  info->hardware_version.set_flag(std::bitset<8>(data[i + 2]));
-  i += 3;
-  // spec_version, 2
-  info->spec_version.set_major(data[i]);
-  info->spec_version.set_minor(data[i + 1]);
-  i += 2;
-  // lens_type, 4
-  info->lens_type.set_vendor(_from_data<std::uint16_t>(data + i));
-  info->lens_type.set_product(_from_data<std::uint16_t>(data + i + 2));
-  i += 4;
-  // imu_type, 4
-  info->imu_type.set_vendor(_from_data<std::uint16_t>(data + i));
-  info->imu_type.set_product(_from_data<std::uint16_t>(data + i + 2));
-  i += 4;
-  // nominal_baseline, 2
-  info->nominal_baseline = _from_data<std::uint16_t>(data + i);
-  i += 2;
-
-  return i;
-}
-
-std::size_t from_data(
-    Intrinsics *in, const std::uint8_t *data, const Version *spec_version) {
-  std::size_t i = 0;
-
-  // width, 2
-  in->width = _from_data<std::uint16_t>(data + i);
-  i += 2;
-  // height, 2
-  in->height = _from_data<std::uint16_t>(data + i);
-  i += 2;
-  // fx, 8
-  in->fx = _from_data<double>(data + i);
-  i += 8;
-  // fy, 8
-  in->fy = _from_data<double>(data + i);
-  i += 8;
-  // cx, 8
-  in->cx = _from_data<double>(data + i);
-  i += 8;
-  // cy, 8
-  in->cy = _from_data<double>(data + i);
-  i += 8;
-  // model, 1
-  in->model = data[i];
-  i += 1;
-  // coeffs, 40
-  for (std::size_t j = 0; j < 5; j++) {
-    in->coeffs[j] = _from_data<double>(data + i + j * 8);
-  }
-  i += 40;
-
-  MYNTEYE_UNUSED(spec_version)
-  return i;
-}
-
-std::size_t from_data(
-    ImuIntrinsics *in, const std::uint8_t *data, const Version *spec_version) {
-  std::size_t i = 0;
-
-  // scale
-  for (std::size_t j = 0; j < 3; j++) {
-    for (std::size_t k = 0; k < 3; k++) {
-      in->scale[j][k] = _from_data<double>(data + i + (j * 3 + k) * 8);
-    }
-  }
-  i += 72;
-  // drift
-  for (std::size_t j = 0; j < 3; j++) {
-    in->drift[j] = _from_data<double>(data + i + j * 8);
-  }
-  i += 24;
-  // noise
-  for (std::size_t j = 0; j < 3; j++) {
-    in->noise[j] = _from_data<double>(data + i + j * 8);
-  }
-  i += 24;
-  // bias
-  for (std::size_t j = 0; j < 3; j++) {
-    in->bias[j] = _from_data<double>(data + i + j * 8);
-  }
-  i += 24;
-
-  MYNTEYE_UNUSED(spec_version)
-  return i;
-}
-
-std::size_t from_data(
-    Extrinsics *ex, const std::uint8_t *data, const Version *spec_version) {
-  std::size_t i = 0;
-
-  // rotation
-  for (std::size_t j = 0; j < 3; j++) {
-    for (std::size_t k = 0; k < 3; k++) {
-      ex->rotation[j][k] = _from_data<double>(data + i + (j * 3 + k) * 8);
-    }
-  }
-  i += 72;
-  // translation
-  for (std::size_t j = 0; j < 3; j++) {
-    ex->translation[j] = _from_data<double>(data + i + j * 8);
-  }
-  i += 24;
-
-  MYNTEYE_UNUSED(spec_version)
-  return i;
-}
-
-std::size_t from_data(
-    Channels::img_params_t *img_params, const std::uint8_t *data,
-    const Version *spec_version) {
-  std::size_t i = 0;
-  i += from_data(&img_params->in_left, data + i, spec_version);
-  i += from_data(&img_params->in_right, data + i, spec_version);
-  i += from_data(&img_params->ex_right_to_left, data + i, spec_version);
-  return i;
-}
-
-std::size_t from_data(
-    Channels::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);
-  i += from_data(&imu_params->in_gyro, data + i, spec_version);
-  i += from_data(&imu_params->ex_left_to_imu, data + i, spec_version);
-  return i;
-}
-
-}  // namespace
-
 bool Channels::GetFiles(
    device_info_t *info, img_params_t *img_params, imu_params_t *imu_params,
    Version *spec_version) const {
@ -578,7 +457,7 @@ bool Channels::GetFiles(

  if (XuFileQuery(uvc::XU_QUERY_GET, 2000, data)) {
    // header = std::bitset<8>(data[0]);
-    std::uint16_t size = _from_data<std::uint16_t>(data + 1);
+    std::uint16_t size = bytes::_from_data<std::uint16_t>(data + 1);
    std::uint8_t checksum = data[3 + size];
    VLOG(2) << "GetFiles data size: " << size << ", checksum: 0x" << std::hex
            << std::setw(2) << std::setfill('0') << static_cast<int>(checksum);
@ -601,30 +480,34 @@ bool Channels::GetFiles(
    std::size_t end = 3 + size;
    while (i < end) {
      std::uint8_t file_id = *(data + i);
-      std::uint16_t file_size = _from_data<std::uint16_t>(data + i + 1);
+      std::uint16_t file_size = bytes::_from_data<std::uint16_t>(data + i + 1);
      VLOG(2) << "GetFiles id: " << static_cast<int>(file_id)
              << ", size: " << file_size;
      i += 3;
      switch (file_id) {
        case FID_DEVICE_INFO: {
-          CHECK_EQ(from_data(info, data + i), file_size)
+          CHECK_EQ(bytes::from_data(info, data + i), file_size)
              << "The firmware not support getting device info, you could "
                 "upgrade to latest";
          spec_ver = &info->spec_version;
          CheckSpecVersion(spec_ver);
        } break;
        case FID_IMG_PARAMS: {
-          img_params->ok = file_size > 0;
-          if (img_params->ok) {
+          if (file_size > 0) {
            CheckSpecVersion(spec_ver);
-            CHECK_EQ(from_data(img_params, data + i, spec_ver), file_size);
+            /*auto &&n = */adapter_->GetImgParamsFromData(
+                data + i, spec_ver, img_params);
+            // Considering the upgrade, comment this
+            // CHECK_EQ(n, file_size);
          }
        } break;
        case FID_IMU_PARAMS: {
          imu_params->ok = file_size > 0;
          if (imu_params->ok) {
            CheckSpecVersion(spec_ver);
-            CHECK_EQ(from_data(imu_params, data + i, spec_ver), file_size);
+            auto &&n = adapter_->GetImuParamsFromData(
+                data + i, spec_ver, imu_params);
+            CHECK_EQ(n, file_size);
          }
        } break;
        default:
@ -641,198 +524,6 @@ bool Channels::GetFiles(
  }
 }

-namespace {
-
-template <typename T>
-std::size_t _to_data(T value, std::uint8_t *data) {
-  std::size_t size = sizeof(T) / sizeof(std::uint8_t);
-  for (std::size_t i = 0; i < size; i++) {
-    data[i] = static_cast<std::uint8_t>((value >> (8 * (size - i - 1))) & 0xFF);
-  }
-  return size;
-}
-
-template <>
-std::size_t _to_data(double value, std::uint8_t *data) {
-  std::uint8_t *val = reinterpret_cast<std::uint8_t *>(&value);
-  std::copy(val, val + 8, data);
-  return 8;
-}
-
-std::size_t _to_data(std::string value, std::uint8_t *data, std::size_t count) {
-  std::copy(value.begin(), value.end(), data);
-  for (std::size_t i = value.size(); i < count; i++) {
-    data[i] = ' ';
-  }
-  return count;
-}
-
-std::size_t to_data(
-    const Channels::device_info_t *info, std::uint8_t *data,
-    const Version *spec_version) {
-  std::size_t i = 3;  // skip id, size
-  i += 4;             // skip vid, pid
-  // name, 16
-  _to_data(info->name, data + i, 16);
-  i += 16;
-  // serial_number, 16
-  _to_data(info->serial_number, data + i, 16);
-  i += 16;
-  // firmware_version, 2
-  data[i] = info->firmware_version.major();
-  data[i + 1] = info->firmware_version.minor();
-  i += 2;
-  // hardware_version, 3
-  data[i] = info->hardware_version.major();
-  data[i + 1] = info->hardware_version.minor();
-  data[i + 2] =
-      static_cast<std::uint8_t>(info->hardware_version.flag().to_ulong());
-  i += 3;
-  // spec_version, 2
-  data[i] = info->spec_version.major();
-  data[i + 1] = info->spec_version.minor();
-  i += 2;
-  // lens_type, 4
-  _to_data(info->lens_type.vendor(), data + i);
-  _to_data(info->lens_type.product(), data + i + 2);
-  i += 4;
-  // imu_type, 4
-  _to_data(info->imu_type.vendor(), data + i);
-  _to_data(info->imu_type.product(), data + i + 2);
-  i += 4;
-  // nominal_baseline, 2
-  _to_data(info->nominal_baseline, data + i);
-  i += 2;
-
-  MYNTEYE_UNUSED(spec_version)
-
-  // others
-  std::size_t size = i - 3;
-  data[0] = Channels::FID_DEVICE_INFO;
-  data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
-  data[2] = static_cast<std::uint8_t>(size & 0xFF);
-  return size + 3;
-}
-
-std::size_t to_data(
-    const Intrinsics *in, std::uint8_t *data, const Version *spec_version) {
-  std::size_t i = 0;
-
-  // width, 2
-  _to_data(in->width, data + i);
-  i += 2;
-  // height, 2
-  _to_data(in->height, data + i);
-  i += 2;
-  // fx, 8
-  _to_data(in->fx, data + i);
-  i += 8;
-  // fy, 8
-  _to_data(in->fy, data + i);
-  i += 8;
-  // cx, 8
-  _to_data(in->cx, data + i);
-  i += 8;
-  // cy, 8
-  _to_data(in->cy, data + i);
-  i += 8;
-  // model, 1
-  data[i] = in->model;
-  i += 1;
-  // coeffs, 40
-  for (std::size_t j = 0; j < 5; j++) {
-    _to_data(in->coeffs[j], data + i + j * 8);
-  }
-  i += 40;
-
-  MYNTEYE_UNUSED(spec_version)
-  return i;
-}
-
-std::size_t to_data(
-    const ImuIntrinsics *in, std::uint8_t *data, const Version *spec_version) {
-  std::size_t i = 0;
-
-  // scale
-  for (std::size_t j = 0; j < 3; j++) {
-    for (std::size_t k = 0; k < 3; k++) {
-      _to_data(in->scale[j][k], data + i + (j * 3 + k) * 8);
-    }
-  }
-  i += 72;
-  // drift
-  for (std::size_t j = 0; j < 3; j++) {
-    _to_data(in->drift[j], data + i + j * 8);
-  }
-  i += 24;
-  // noise
-  for (std::size_t j = 0; j < 3; j++) {
-    _to_data(in->noise[j], data + i + j * 8);
-  }
-  i += 24;
-  // bias
-  for (std::size_t j = 0; j < 3; j++) {
-    _to_data(in->bias[j], data + i + j * 8);
-  }
-  i += 24;
-
-  MYNTEYE_UNUSED(spec_version)
-  return i;
-}
-
-std::size_t to_data(
-    const Extrinsics *ex, std::uint8_t *data, const Version *spec_version) {
-  std::size_t i = 0;
-
-  // rotation
-  for (std::size_t j = 0; j < 3; j++) {
-    for (std::size_t k = 0; k < 3; k++) {
-      _to_data(ex->rotation[j][k], data + i + (j * 3 + k) * 8);
-    }
-  }
-  i += 72;
-  // translation
-  for (std::size_t j = 0; j < 3; j++) {
-    _to_data(ex->translation[j], data + i + j * 8);
-  }
-  i += 24;
-
-  MYNTEYE_UNUSED(spec_version)
-  return i;
-}
-
-std::size_t to_data(
-    const Channels::img_params_t *img_params, std::uint8_t *data,
-    const Version *spec_version) {
-  std::size_t i = 3;  // skip id, size
-  i += to_data(&img_params->in_left, data + i, spec_version);
-  i += to_data(&img_params->in_right, data + i, spec_version);
-  i += to_data(&img_params->ex_right_to_left, data + i, spec_version);
-  // others
-  std::size_t size = i - 3;
-  data[0] = Channels::FID_IMG_PARAMS;
-  data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
-  data[2] = static_cast<std::uint8_t>(size & 0xFF);
-  return size + 3;
-}
-
-std::size_t to_data(
-    const Channels::imu_params_t *imu_params, std::uint8_t *data,
-    const Version *spec_version) {
-  std::size_t i = 3;  // skip id, size
-  i += to_data(&imu_params->in_accel, data + i, spec_version);
-  i += to_data(&imu_params->in_gyro, data + i, spec_version);
-  i += to_data(&imu_params->ex_left_to_imu, data + i, spec_version);
-  // others
-  std::size_t size = i - 3;
-  data[0] = Channels::FID_IMU_PARAMS;
-  data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
-  data[2] = static_cast<std::uint8_t>(size & 0xFF);
-  return size + 3;
-}
-
-}  // namespace
-
 bool Channels::SetFiles(
    device_info_t *info, img_params_t *img_params, imu_params_t *imu_params,
    Version *spec_version) {
@ -854,15 +545,15 @@ bool Channels::SetFiles(
  std::uint16_t size = 0;
  if (info != nullptr) {
    header[0] = true;
-    size += to_data(info, data + 3 + size, spec_ver);
+    size += bytes::to_data(info, data + 3 + size, spec_ver);
  }
  if (img_params != nullptr) {
    header[1] = true;
-    size += to_data(img_params, data + 3 + size, spec_ver);
+    size += adapter_->SetImgParamsToData(img_params, spec_ver, data + 3 + size);
  }
  if (imu_params != nullptr) {
    header[2] = true;
-    size += to_data(imu_params, data + 3 + size, spec_ver);
+    size += adapter_->SetImuParamsToData(imu_params, spec_ver, data + 3 + size);
  }

  data[0] = static_cast<std::uint8_t>(header.to_ulong());
@ -986,7 +677,7 @@ bool Channels::XuImuRead(ImuResPacket *res) const {
  static std::uint8_t data[2000]{};
  // std::fill(data, data + 2000, 0);  // reset
  if (XuControlQuery(CHANNEL_IMU_READ, uvc::XU_QUERY_GET, 2000, data)) {
-    res->from_data(data);
+    adapter_->GetImuResPacket(data, res);

    if (res->header != 0x5B) {
      LOG(WARNING) << "Imu response packet header must be 0x5B, but 0x"
@ -1047,4 +738,309 @@ Channels::control_info_t Channels::XuControlInfo(Option option) const {
  return {min, max, def};
 }

+
+std::size_t ChannelsAdapter::GetImuParamsFromData(
+    const std::uint8_t *data, const Version *version,
+    Channels::imu_params_t *imu_params) {
+  std::size_t i = 0;
+  i += bytes::from_data(&imu_params->in_accel, data + i, version);
+  i += bytes::from_data(&imu_params->in_gyro, data + i, version);
+  i += bytes::from_data(&imu_params->ex_left_to_imu, data + i, version);
+  return i;
+}
+
+std::size_t ChannelsAdapter::SetImuParamsToData(
+    const Channels::imu_params_t *imu_params, const Version *version,
+    std::uint8_t *data) {
+  std::size_t i = 3;  // skip id, size
+  i += bytes::to_data(&imu_params->in_accel, data + i, version);
+  i += bytes::to_data(&imu_params->in_gyro, data + i, version);
+  i += bytes::to_data(&imu_params->ex_left_to_imu, data + i, version);
+  // others
+  std::size_t size = i - 3;
+  data[0] = Channels::FID_IMU_PARAMS;
+  data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
+  data[2] = static_cast<std::uint8_t>(size & 0xFF);
+  return size + 3;
+}
+
+
+namespace bytes {
+
+// from
+
+std::string _from_data(const std::uint8_t *data, std::size_t count) {
+  std::string s(reinterpret_cast<const char *>(data), count);
+  strings::trim(s);
+  return s;
+}
+
+std::size_t from_data(Channels::device_info_t *info, const std::uint8_t *data) {
+  std::size_t i = 4;  // skip vid, pid
+  // name, 16
+  info->name = _from_data(data + i, 16);
+  i += 16;
+  // serial_number, 16
+  info->serial_number = _from_data(data + i, 16);
+  i += 16;
+  // firmware_version, 2
+  info->firmware_version.set_major(data[i]);
+  info->firmware_version.set_minor(data[i + 1]);
+  i += 2;
+  // hardware_version, 3
+  info->hardware_version.set_major(data[i]);
+  info->hardware_version.set_minor(data[i + 1]);
+  info->hardware_version.set_flag(std::bitset<8>(data[i + 2]));
+  i += 3;
+  // spec_version, 2
+  info->spec_version.set_major(data[i]);
+  info->spec_version.set_minor(data[i + 1]);
+  i += 2;
+  // lens_type, 4
+  info->lens_type.set_vendor(_from_data<std::uint16_t>(data + i));
+  info->lens_type.set_product(_from_data<std::uint16_t>(data + i + 2));
+  i += 4;
+  // imu_type, 4
+  info->imu_type.set_vendor(_from_data<std::uint16_t>(data + i));
+  info->imu_type.set_product(_from_data<std::uint16_t>(data + i + 2));
+  i += 4;
+  // nominal_baseline, 2
+  info->nominal_baseline = _from_data<std::uint16_t>(data + i);
+  i += 2;
+
+  return i;
+}
+
+std::size_t from_data(Intrinsics *in, const std::uint8_t *data,
+    const Version *spec_version) {
+  std::size_t i = 0;
+
+  // width, 2
+  in->width = _from_data<std::uint16_t>(data + i);
+  i += 2;
+  // height, 2
+  in->height = _from_data<std::uint16_t>(data + i);
+  i += 2;
+  // fx, 8
+  in->fx = _from_data<double>(data + i);
+  i += 8;
+  // fy, 8
+  in->fy = _from_data<double>(data + i);
+  i += 8;
+  // cx, 8
+  in->cx = _from_data<double>(data + i);
+  i += 8;
+  // cy, 8
+  in->cy = _from_data<double>(data + i);
+  i += 8;
+  // model, 1
+  in->model = data[i];
+  i += 1;
+  // coeffs, 40
+  for (std::size_t j = 0; j < 5; j++) {
+    in->coeffs[j] = _from_data<double>(data + i + j * 8);
+  }
+  i += 40;
+
+  MYNTEYE_UNUSED(spec_version)
+  return i;
+}
+
+std::size_t from_data(ImuIntrinsics *in, const std::uint8_t *data,
+    const Version *spec_version) {
+  std::size_t i = 0;
+
+  // scale
+  for (std::size_t j = 0; j < 3; j++) {
+    for (std::size_t k = 0; k < 3; k++) {
+      in->scale[j][k] = _from_data<double>(data + i + (j * 3 + k) * 8);
+    }
+  }
+  i += 72;
+  // drift
+  for (std::size_t j = 0; j < 3; j++) {
+    in->drift[j] = _from_data<double>(data + i + j * 8);
+  }
+  i += 24;
+  // noise
+  for (std::size_t j = 0; j < 3; j++) {
+    in->noise[j] = _from_data<double>(data + i + j * 8);
+  }
+  i += 24;
+  // bias
+  for (std::size_t j = 0; j < 3; j++) {
+    in->bias[j] = _from_data<double>(data + i + j * 8);
+  }
+  i += 24;
+
+  MYNTEYE_UNUSED(spec_version)
+  return i;
+}
+
+std::size_t from_data(Extrinsics *ex, const std::uint8_t *data,
+    const Version *spec_version) {
+  std::size_t i = 0;
+
+  // rotation
+  for (std::size_t j = 0; j < 3; j++) {
+    for (std::size_t k = 0; k < 3; k++) {
+      ex->rotation[j][k] = _from_data<double>(data + i + (j * 3 + k) * 8);
+    }
+  }
+  i += 72;
+  // translation
+  for (std::size_t j = 0; j < 3; j++) {
+    ex->translation[j] = _from_data<double>(data + i + j * 8);
+  }
+  i += 24;
+
+  MYNTEYE_UNUSED(spec_version)
+  return i;
+}
+
+// to
+
+std::size_t _to_data(std::string value, std::uint8_t *data, std::size_t count) {
+  std::copy(value.begin(), value.end(), data);
+  for (std::size_t i = value.size(); i < count; i++) {
+    data[i] = ' ';
+  }
+  return count;
+}
+
+std::size_t to_data(const Channels::device_info_t *info, std::uint8_t *data,
+    const Version *spec_version) {
+  std::size_t i = 3;  // skip id, size
+  i += 4;             // skip vid, pid
+  // name, 16
+  _to_data(info->name, data + i, 16);
+  i += 16;
+  // serial_number, 16
+  _to_data(info->serial_number, data + i, 16);
+  i += 16;
+  // firmware_version, 2
+  data[i] = info->firmware_version.major();
+  data[i + 1] = info->firmware_version.minor();
+  i += 2;
+  // hardware_version, 3
+  data[i] = info->hardware_version.major();
+  data[i + 1] = info->hardware_version.minor();
+  data[i + 2] =
+      static_cast<std::uint8_t>(info->hardware_version.flag().to_ulong());
+  i += 3;
+  // spec_version, 2
+  data[i] = info->spec_version.major();
+  data[i + 1] = info->spec_version.minor();
+  i += 2;
+  // lens_type, 4
+  _to_data(info->lens_type.vendor(), data + i);
+  _to_data(info->lens_type.product(), data + i + 2);
+  i += 4;
+  // imu_type, 4
+  _to_data(info->imu_type.vendor(), data + i);
+  _to_data(info->imu_type.product(), data + i + 2);
+  i += 4;
+  // nominal_baseline, 2
+  _to_data(info->nominal_baseline, data + i);
+  i += 2;
+
+  MYNTEYE_UNUSED(spec_version)
+
+  // others
+  std::size_t size = i - 3;
+  data[0] = Channels::FID_DEVICE_INFO;
+  data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
+  data[2] = static_cast<std::uint8_t>(size & 0xFF);
+  return size + 3;
+}
+
+std::size_t to_data(const Intrinsics *in, std::uint8_t *data,
+    const Version *spec_version) {
+  std::size_t i = 0;
+
+  // width, 2
+  _to_data(in->width, data + i);
+  i += 2;
+  // height, 2
+  _to_data(in->height, data + i);
+  i += 2;
+  // fx, 8
+  _to_data(in->fx, data + i);
+  i += 8;
+  // fy, 8
+  _to_data(in->fy, data + i);
+  i += 8;
+  // cx, 8
+  _to_data(in->cx, data + i);
+  i += 8;
+  // cy, 8
+  _to_data(in->cy, data + i);
+  i += 8;
+  // model, 1
+  data[i] = in->model;
+  i += 1;
+  // coeffs, 40
+  for (std::size_t j = 0; j < 5; j++) {
+    _to_data(in->coeffs[j], data + i + j * 8);
+  }
+  i += 40;
+
+  MYNTEYE_UNUSED(spec_version)
+  return i;
+}
+
+std::size_t to_data(const ImuIntrinsics *in, std::uint8_t *data,
+    const Version *spec_version) {
+  std::size_t i = 0;
+
+  // scale
+  for (std::size_t j = 0; j < 3; j++) {
+    for (std::size_t k = 0; k < 3; k++) {
+      _to_data(in->scale[j][k], data + i + (j * 3 + k) * 8);
+    }
+  }
+  i += 72;
+  // drift
+  for (std::size_t j = 0; j < 3; j++) {
+    _to_data(in->drift[j], data + i + j * 8);
+  }
+  i += 24;
+  // noise
+  for (std::size_t j = 0; j < 3; j++) {
+    _to_data(in->noise[j], data + i + j * 8);
+  }
+  i += 24;
+  // bias
+  for (std::size_t j = 0; j < 3; j++) {
+    _to_data(in->bias[j], data + i + j * 8);
+  }
+  i += 24;
+
+  MYNTEYE_UNUSED(spec_version)
+  return i;
+}
+
+std::size_t to_data(const Extrinsics *ex, std::uint8_t *data,
+    const Version *spec_version) {
+  std::size_t i = 0;
+
+  // rotation
+  for (std::size_t j = 0; j < 3; j++) {
+    for (std::size_t k = 0; k < 3; k++) {
+      _to_data(ex->rotation[j][k], data + i + (j * 3 + k) * 8);
+    }
+  }
+  i += 72;
+  // translation
+  for (std::size_t j = 0; j < 3; j++) {
+    _to_data(ex->translation[j], data + i + j * 8);
+  }
+  i += 24;
+
+  MYNTEYE_UNUSED(spec_version)
+  return i;
+}
+
+}  // namespace bytes
+
 MYNTEYE_END_NAMESPACE
--- a/src/mynteye/device/channels.h
+++ b/src/mynteye/device/channels.h
@ -15,12 +15,17 @@
 #define MYNTEYE_DEVICE_CHANNELS_H_
 #pragma once

+#include <algorithm>
 #include <map>
 #include <memory>
+#include <set>
+#include <string>
 #include <thread>
+#include <vector>

 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
+#include "mynteye/device/device.h"
 #include "mynteye/device/types.h"
 #include "mynteye/uvc/uvc.h"

@ -33,6 +38,8 @@ struct xu;

 }  // namespace uvc

+class ChannelsAdapter;
+
 class MYNTEYE_API Channels {
 public:
  typedef enum Channel {
@ -67,23 +74,16 @@ class MYNTEYE_API Channels {

  using device_info_t = DeviceInfo;

-  typedef struct ImgParams {
-    bool ok;
-    Intrinsics in_left;
-    Intrinsics in_right;
-    Extrinsics ex_right_to_left;
-  } img_params_t;
+  using img_params_t = std::map<Resolution, device::img_params_t>;
+  using imu_params_t = device::imu_params_t;

-  typedef struct ImuParams {
-    bool ok;
-    ImuIntrinsics in_accel;
-    ImuIntrinsics in_gyro;
-    Extrinsics ex_left_to_imu;
-  } imu_params_t;
-
-  explicit Channels(std::shared_ptr<uvc::device> device);
+  Channels(const std::shared_ptr<uvc::device> &device,
+           const std::shared_ptr<ChannelsAdapter> &adapter);
  ~Channels();

+  std::int32_t GetAccelRangeDefault();
+  std::int32_t GetGyroRangeDefault();
+
  void LogControlInfos() const;
  void UpdateControlInfos();
  control_info_t GetControlInfo(const Option &option) const;
@ -140,6 +140,7 @@ class MYNTEYE_API Channels {
  control_info_t XuControlInfo(Option option) const;

  std::shared_ptr<uvc::device> device_;
+  std::shared_ptr<ChannelsAdapter> adapter_;

  std::map<Option, control_info_t> control_infos_;

@ -151,6 +152,101 @@ class MYNTEYE_API Channels {
  imu_callback_t imu_callback_;
 };

+class ChannelsAdapter {
+ public:
+  virtual ~ChannelsAdapter() {}
+
+  virtual std::set<Option> GetOptionSupports() = 0;
+
+  virtual std::int32_t GetAccelRangeDefault() = 0;
+  virtual std::vector<std::int32_t> GetAccelRangeValues() = 0;
+
+  virtual std::int32_t GetGyroRangeDefault() = 0;
+  virtual std::vector<std::int32_t> GetGyroRangeValues() = 0;
+
+  virtual void GetImuResPacket(const std::uint8_t *data, ImuResPacket *res) = 0;
+
+  virtual std::size_t GetImgParamsFromData(
+      const std::uint8_t *data, const Version *version,
+      Channels::img_params_t *img_params) = 0;
+  virtual std::size_t SetImgParamsToData(
+      const Channels::img_params_t *img_params, const Version *version,
+      std::uint8_t *data) = 0;
+
+  virtual std::size_t GetImuParamsFromData(
+      const std::uint8_t *data, const Version *version,
+      Channels::imu_params_t *imu_params);
+  virtual std::size_t SetImuParamsToData(
+      const Channels::imu_params_t *imu_params, const Version *version,
+      std::uint8_t *data);
+};
+
+namespace bytes {
+
+// from
+
+template <typename T>
+T _from_data(const std::uint8_t *data) {
+  std::size_t size = sizeof(T) / sizeof(std::uint8_t);
+  T value = 0;
+  for (std::size_t i = 0; i < size; i++) {
+    value |= data[i] << (8 * (size - i - 1));
+  }
+  return value;
+}
+
+template <>
+inline double _from_data(const std::uint8_t *data) {
+  return *(reinterpret_cast<const double *>(data));
+}
+
+std::string _from_data(const std::uint8_t *data, std::size_t count);
+
+std::size_t from_data(Channels::device_info_t *info, const std::uint8_t *data);
+
+std::size_t from_data(Intrinsics *in, const std::uint8_t *data,
+    const Version *spec_version);
+
+std::size_t from_data(ImuIntrinsics *in, const std::uint8_t *data,
+    const Version *spec_version);
+
+std::size_t from_data(Extrinsics *ex, const std::uint8_t *data,
+    const Version *spec_version);
+
+// to
+
+template <typename T>
+std::size_t _to_data(T value, std::uint8_t *data) {
+  std::size_t size = sizeof(T) / sizeof(std::uint8_t);
+  for (std::size_t i = 0; i < size; i++) {
+    data[i] = static_cast<std::uint8_t>((value >> (8 * (size - i - 1))) & 0xFF);
+  }
+  return size;
+}
+
+template <>
+inline std::size_t _to_data(double value, std::uint8_t *data) {
+  std::uint8_t *val = reinterpret_cast<std::uint8_t *>(&value);
+  std::copy(val, val + 8, data);
+  return 8;
+}
+
+std::size_t _to_data(std::string value, std::uint8_t *data, std::size_t count);
+
+std::size_t to_data(const Channels::device_info_t *info, std::uint8_t *data,
+    const Version *spec_version);
+
+std::size_t to_data(const Intrinsics *in, std::uint8_t *data,
+    const Version *spec_version);
+
+std::size_t to_data(const ImuIntrinsics *in, std::uint8_t *data,
+    const Version *spec_version);
+
+std::size_t to_data(const Extrinsics *ex, std::uint8_t *data,
+    const Version *spec_version);
+
+}  // namespace bytes
+
 MYNTEYE_END_NAMESPACE

 #endif  // MYNTEYE_DEVICE_CHANNELS_H_
--- a/src/mynteye/device/config.cc
+++ b/src/mynteye/device/config.cc
@ -16,22 +16,55 @@
 MYNTEYE_BEGIN_NAMESPACE

 const std::map<Model, StreamSupports> stream_supports_map = {
-    {Model::STANDARD, {Stream::LEFT, Stream::RIGHT}}};
+  {Model::STANDARD, {Stream::LEFT, Stream::RIGHT}},
+  {Model::STANDARD2, {Stream::LEFT, Stream::RIGHT}}
+};

 const std::map<Model, CapabilitiesSupports> capabilities_supports_map = {
-    {Model::STANDARD, {Capabilities::STEREO, Capabilities::IMU}}};
+  {Model::STANDARD, {Capabilities::STEREO, Capabilities::IMU}},
+  {Model::STANDARD2, {Capabilities::STEREO_COLOR, Capabilities::IMU}}
+};

 const std::map<Model, OptionSupports> option_supports_map = {
-    {Model::STANDARD,
-     {Option::GAIN, Option::BRIGHTNESS, Option::CONTRAST, Option::FRAME_RATE,
-      Option::IMU_FREQUENCY, Option::EXPOSURE_MODE, Option::MAX_GAIN,
-      Option::MAX_EXPOSURE_TIME, Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL,
-      Option::HDR_MODE, Option::ZERO_DRIFT_CALIBRATION, Option::ERASE_CHIP,
-      Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE}}};
+  {Model::STANDARD, {
+    Option::GAIN, Option::BRIGHTNESS, Option::CONTRAST,
+    Option::FRAME_RATE, Option::IMU_FREQUENCY,
+    Option::EXPOSURE_MODE, Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
+      Option::DESIRED_BRIGHTNESS,
+    Option::IR_CONTROL,
+    Option::HDR_MODE,
+    Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE,
+    Option::ZERO_DRIFT_CALIBRATION,
+    Option::ERASE_CHIP}
+  },
+  {Model::STANDARD2, {
+    Option::BRIGHTNESS,
+    Option::EXPOSURE_MODE, Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
+      Option::MIN_EXPOSURE_TIME, Option::DESIRED_BRIGHTNESS,
+    Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE,
+    Option::ACCELEROMETER_LOW_PASS_FILTER, Option::GYROSCOPE_LOW_PASS_FILTER,
+    Option::ERASE_CHIP}
+  }
+};

 const std::map<Model, std::map<Capabilities, StreamRequests>>
-    stream_requests_map = {
-        {Model::STANDARD,
-         {{Capabilities::STEREO, {{752, 480, Format::YUYV, 25}}}}}};
+stream_requests_map = {
+  {Model::STANDARD,
+    {{Capabilities::STEREO, {
+      {752, 480, Format::YUYV, 25}}
+    }}
+  },
+  {Model::STANDARD2,
+    {{Capabilities::STEREO_COLOR, {
+      {1280, 400, Format::BGR888, 10},
+      {1280, 400, Format::BGR888, 20},
+      {1280, 400, Format::BGR888, 30},
+      {1280, 400, Format::BGR888, 60},
+      {2560, 800, Format::BGR888, 10},
+      {2560, 800, Format::BGR888, 20},
+      {2560, 800, Format::BGR888, 30}}
+    }}
+  }
+};

 MYNTEYE_END_NAMESPACE
--- a/src/mynteye/device/device.cc
+++ b/src/mynteye/device/device.cc
@ -23,8 +23,9 @@
 #include "mynteye/device/async_callback.h"
 #include "mynteye/device/channels.h"
 #include "mynteye/device/config.h"
-#include "mynteye/device/device_s.h"
 #include "mynteye/device/motions.h"
+#include "mynteye/device/standard/device_s.h"
+#include "mynteye/device/standard2/device_s2.h"
 #include "mynteye/device/streams.h"
 #include "mynteye/device/types.h"
 #include "mynteye/util/strings.h"
@ -78,14 +79,17 @@ bool CheckSupports(

 }  // namespace

-Device::Device(const Model &model, std::shared_ptr<uvc::device> device)
-    : video_streaming_(false),
-      motion_tracking_(false),
-      model_(model),
-      device_(device),
-      streams_(nullptr),
-      channels_(std::make_shared<Channels>(device)),
-      motions_(std::make_shared<Motions>(channels_)) {
+Device::Device(const Model &model,
+    const std::shared_ptr<uvc::device> &device,
+    const std::shared_ptr<StreamsAdapter> &streams_adapter,
+    const std::shared_ptr<ChannelsAdapter> &channels_adapter)
+  : video_streaming_(false),
+    motion_tracking_(false),
+    model_(model),
+    device_(device),
+    streams_(std::make_shared<Streams>(streams_adapter)),
+    channels_(std::make_shared<Channels>(device_, channels_adapter)),
+    motions_(std::make_shared<Motions>(channels_)) {
  VLOG(2) << __func__;
  ReadAllInfos();
 }
@ -100,14 +104,20 @@ std::shared_ptr<Device> Device::Create(
    return std::make_shared<StandardDevice>(device);
  } else if (strings::starts_with(name, "MYNT-EYE-")) {
    // TODO(JohnZhao): Create different device by name, such as MYNT-EYE-S1000
-    std::string model_s = name.substr(9);
+    std::string model_s = name.substr(9, 5);
    VLOG(2) << "MYNE EYE Model: " << model_s;
    DeviceModel model(model_s);
-    switch (model.type) {
-      case 'S':
-        return std::make_shared<StandardDevice>(device);
-      default:
-        LOG(FATAL) << "MYNT EYE model is not supported now";
+    if (model.type == 'S') {
+      switch (model.generation) {
+        case '1':
+          return std::make_shared<StandardDevice>(device);
+        case '2':
+          return std::make_shared<Standard2Device>(device);
+        default:
+          LOG(FATAL) << "No such generation now";
+      }
+    } else {
+      LOG(FATAL) << "MYNT EYE model is not supported now";
    }
  }
  return nullptr;
@ -166,6 +176,33 @@ void Device::ConfigStreamRequest(
    return;
  }
  stream_config_requests_[capability] = request;
+  UpdateStreamIntrinsics(capability, request);
+}
+
+const StreamRequest &Device::GetStreamRequest(
+    const Capabilities &capability) const {
+  try {
+    return stream_config_requests_.at(capability);
+  } catch (const std::out_of_range &e) {
+    auto &&requests = GetStreamRequests(capability);
+    if (requests.size() >= 1) {
+      return requests[0];
+    } else {
+      LOG(FATAL) << "Please config the stream request of " << capability;
+    }
+  }
+}
+
+const std::vector<StreamRequest> &Device::GetStreamRequests() const {
+  return GetStreamRequests(GetKeyStreamCapability());
+}
+
+void Device::ConfigStreamRequest(const StreamRequest &request) {
+  ConfigStreamRequest(GetKeyStreamCapability(), request);
+}
+
+const StreamRequest &Device::GetStreamRequest() const {
+  return GetStreamRequest(GetKeyStreamCapability());
 }

 std::shared_ptr<DeviceInfo> Device::GetInfo() const {
@ -400,6 +437,14 @@ void Device::WaitForStreams() {
  streams_->WaitForStreams();
 }

+device::StreamData Device::GetStreamData(const Stream &stream) {
+  CHECK(video_streaming_);
+  CHECK_NOTNULL(streams_);
+  CheckSupports(this, stream);
+  std::lock_guard<std::mutex> _(mtx_streams_);
+  return streams_->GetLatestStreamData(stream);
+}
+
 std::vector<device::StreamData> Device::GetStreamDatas(const Stream &stream) {
  CHECK(video_streaming_);
  CHECK_NOTNULL(streams_);
@ -408,14 +453,6 @@ std::vector<device::StreamData> Device::GetStreamDatas(const Stream &stream) {
  return streams_->GetStreamDatas(stream);
 }

-device::StreamData Device::GetLatestStreamData(const Stream &stream) {
-  CHECK(video_streaming_);
-  CHECK_NOTNULL(streams_);
-  CheckSupports(this, stream);
-  std::lock_guard<std::mutex> _(mtx_streams_);
-  return streams_->GetLatestStreamData(stream);
-}
-
 void Device::EnableMotionDatas() {
  EnableMotionDatas(std::numeric_limits<std::size_t>::max());
 }
@ -431,51 +468,33 @@ std::vector<device::MotionData> Device::GetMotionDatas() {
  return motions_->GetMotionDatas();
 }

-const StreamRequest &Device::GetStreamRequest(const Capabilities &capability) {
-  try {
-    return stream_config_requests_.at(capability);
-  } catch (const std::out_of_range &e) {
-    auto &&requests = GetStreamRequests(capability);
-    if (requests.size() >= 1) {
-      VLOG(2) << "Select the first one stream request of " << capability;
-      return requests[0];
-    } else {
-      LOG(FATAL) << "Please config the stream request of " << capability;
-    }
-  }
-}
-
 void Device::StartVideoStreaming() {
  if (video_streaming_) {
    LOG(WARNING) << "Cannot start video streaming without first stopping it";
    return;
  }

-  streams_ = std::make_shared<Streams>(GetKeyStreams());
-
  // if stream capabilities are supported with subdevices of device_
  /*
  Capabilities stream_capabilities[] = {
-    Capabilities::STEREO,
-    Capabilities::COLOR,
-    Capabilities::DEPTH,
-    Capabilities::POINTS,
-    Capabilities::FISHEYE,
-    Capabilities::INFRARED,
-    Capabilities::INFRARED2
-  };
+      Capabilities::STEREO,       Capabilities::STEREO_COLOR,
+      Capabilities::COLOR,        Capabilities::DEPTH,
+      Capabilities::POINTS,       Capabilities::FISHEYE,
+      Capabilities::INFRARED,     Capabilities::INFRARED2};
  for (auto &&capability : stream_capabilities) {
  }
  */
-  if (Supports(Capabilities::STEREO)) {
+  auto &&stream_cap = GetKeyStreamCapability();
+  if (Supports(stream_cap)) {
    // do stream request selection if more than one request of each stream
-    auto &&stream_request = GetStreamRequest(Capabilities::STEREO);
+    auto &&stream_request = GetStreamRequest(stream_cap);
+    streams_->ConfigStream(stream_cap, stream_request);

-    streams_->ConfigStream(Capabilities::STEREO, stream_request);
    uvc::set_device_mode(
        *device_, stream_request.width, stream_request.height,
        static_cast<int>(stream_request.format), stream_request.fps,
-        [this](const void *data, std::function<void()> continuation) {
+        [this, stream_cap](
+            const void *data, std::function<void()> continuation) {
          // drop the first stereo stream data
          static std::uint8_t drop_count = 1;
          if (drop_count > 0) {
@ -486,7 +505,7 @@ void Device::StartVideoStreaming() {
          // auto &&time_beg = times::now();
          {
            std::lock_guard<std::mutex> _(mtx_streams_);
-            if (streams_->PushStream(Capabilities::STEREO, data)) {
+            if (streams_->PushStream(stream_cap, data)) {
              CallbackPushedStreamData(Stream::LEFT);
              CallbackPushedStreamData(Stream::RIGHT);
            }
@ -543,9 +562,9 @@ void Device::ReadAllInfos() {
  device_info_ = std::make_shared<DeviceInfo>();

  CHECK_NOTNULL(channels_);
-  Channels::img_params_t img_params;
-  Channels::imu_params_t imu_params;
-  if (!channels_->GetFiles(device_info_.get(), &img_params, &imu_params)) {
+  all_img_params_.clear();
+  Device::imu_params_t imu_params;
+  if (!channels_->GetFiles(device_info_.get(), &all_img_params_, &imu_params)) {
 #if defined(WITH_DEVICE_INFO_REQUIRED)
    LOG(FATAL)
 #else
@ -566,18 +585,28 @@ void Device::ReadAllInfos() {
          << ", nominal_baseline: " << device_info_->nominal_baseline << "}";

  device_info_->name = uvc::get_name(*device_);
-  if (img_params.ok) {
-    SetIntrinsics(Stream::LEFT, img_params.in_left);
-    SetIntrinsics(Stream::RIGHT, img_params.in_right);
-    SetExtrinsics(Stream::RIGHT, Stream::LEFT, img_params.ex_right_to_left);
-    VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
-    VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
-    VLOG(2) << "Extrinsics right to left: {"
-            << GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";
-  } else {
+
+  bool img_params_ok = false;
+  for (auto &&params : all_img_params_) {
+    auto &&img_params = params.second;
+    if (img_params.ok) {
+      img_params_ok = true;
+      SetIntrinsics(Stream::LEFT, img_params.in_left);
+      SetIntrinsics(Stream::RIGHT, img_params.in_right);
+      SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params.ex_right_to_left);
+      VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
+      VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
+      VLOG(2) << "Extrinsics left to right: {"
+              << GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
+      break;
+    }
+  }
+  if (!img_params_ok) {
    LOG(WARNING) << "Intrinsics & extrinsics not exist";
  }
+
  if (imu_params.ok) {
+    imu_params_ = imu_params;
    SetMotionIntrinsics({imu_params.in_accel, imu_params.in_gyro});
    SetMotionExtrinsics(Stream::LEFT, imu_params.ex_left_to_imu);
    VLOG(2) << "Motion intrinsics: {" << GetMotionIntrinsics() << "}";
@ -588,6 +617,28 @@ void Device::ReadAllInfos() {
  }
 }

+void Device::UpdateStreamIntrinsics(
+    const Capabilities &capability, const StreamRequest &request) {
+  if (capability != GetKeyStreamCapability()) {
+    return;
+  }
+
+  for (auto &&params : all_img_params_) {
+    auto &&img_res = params.first;
+    auto &&img_params = params.second;
+    if (img_params.ok && img_res == request.GetResolution()) {
+      SetIntrinsics(Stream::LEFT, img_params.in_left);
+      SetIntrinsics(Stream::RIGHT, img_params.in_right);
+      SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params.ex_right_to_left);
+      VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
+      VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
+      VLOG(2) << "Extrinsics left to right: {"
+              << GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
+      break;
+    }
+  }
+}
+
 void Device::CallbackPushedStreamData(const Stream &stream) {
  if (HasStreamCallback(stream)) {
    auto &&datas = streams_->stream_datas(stream);
--- a/src/mynteye/device/motions.cc
+++ b/src/mynteye/device/motions.cc
@ -36,11 +36,11 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
  if (motion_callback_) {
    accel_range = channels_->GetControlValue(Option::ACCELEROMETER_RANGE);
    if (accel_range == -1)
-      accel_range = 8;
+      accel_range = channels_->GetAccelRangeDefault();

    gyro_range = channels_->GetControlValue(Option::GYROSCOPE_RANGE);
    if (gyro_range == -1)
-      gyro_range = 1000;
+      gyro_range = channels_->GetGyroRangeDefault();

    channels_->SetImuCallback([this](const ImuPacket &packet) {
      if (!motion_callback_ && !motion_datas_enabled_) {
@ -48,19 +48,21 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
      }
      for (auto &&seg : packet.segments) {
        auto &&imu = std::make_shared<ImuData>();
-        imu->frame_id = seg.frame_id;
+        // imu->frame_id = seg.frame_id;
        // if (seg.offset < 0 &&
        //     static_cast<uint32_t>(-seg.offset) > packet.timestamp) {
        //   LOG(WARNING) << "Imu timestamp offset is incorrect";
        // }
-        imu->timestamp = packet.timestamp + seg.offset;
+        imu->frame_id = seg.frame_id;
+        imu->timestamp = seg.timestamp;
+        imu->flag = seg.flag;
+        imu->temperature = seg.temperature / 326.8f + 25;
        imu->accel[0] = seg.accel[0] * 1.f * accel_range / 0x10000;
        imu->accel[1] = seg.accel[1] * 1.f * accel_range / 0x10000;
        imu->accel[2] = seg.accel[2] * 1.f * accel_range / 0x10000;
        imu->gyro[0] = seg.gyro[0] * 1.f * gyro_range / 0x10000;
        imu->gyro[1] = seg.gyro[1] * 1.f * gyro_range / 0x10000;
        imu->gyro[2] = seg.gyro[2] * 1.f * gyro_range / 0x10000;
-        imu->temperature = seg.temperature / 326.8f + 25;

        std::lock_guard<std::mutex> _(mtx_datas_);
        motion_data_t data = {imu};
--- a/src/mynteye/device/motions.h
+++ b/src/mynteye/device/motions.h
@ -58,8 +58,8 @@ class Motions {

  std::mutex mtx_datas_;

-  int accel_range = 8;
-  int gyro_range = 1000;
+  int accel_range;
+  int gyro_range;
 };

 MYNTEYE_END_NAMESPACE
--- a/src/mynteye/device/standard/channels_adapter_s.cc
+++ b/src/mynteye/device/standard/channels_adapter_s.cc
@ -0,0 +1,163 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#include "mynteye/device/standard/channels_adapter_s.h"
+
+#include "mynteye/device/config.h"
+#include "mynteye/logger.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace {
+
+#pragma pack(push, 1)
+struct ImuData {
+  std::int16_t offset;
+  std::uint16_t frame_id;
+  std::int16_t accel[3];
+  std::int16_t temperature;
+  std::int16_t gyro[3];
+
+  ImuData() = default;
+  explicit ImuData(const std::uint8_t *data) {
+    from_data(data);
+  }
+
+  void from_data(const std::uint8_t *data) {
+    offset = (*(data) << 8) | *(data + 1);
+    frame_id = (*(data + 2) << 8) | *(data + 3);
+    accel[0] = (*(data + 4) << 8) | *(data + 5);
+    accel[1] = (*(data + 6) << 8) | *(data + 7);
+    accel[2] = (*(data + 8) << 8) | *(data + 9);
+    temperature = (*(data + 10) << 8) | *(data + 11);
+    gyro[0] = (*(data + 12) << 8) | *(data + 13);
+    gyro[1] = (*(data + 14) << 8) | *(data + 15);
+    gyro[2] = (*(data + 16) << 8) | *(data + 17);
+  }
+};
+#pragma pack(pop)
+
+void unpack_imu_segment(const ImuData &imu, const std::uint32_t &timestamp,
+    ImuSegment *seg) {
+  seg->frame_id = static_cast<uint32_t>(imu.frame_id);
+  seg->timestamp = static_cast<uint64_t>(timestamp + imu.offset) * 10;
+  seg->flag = 0;
+  seg->temperature = imu.temperature;
+  seg->accel[0] = imu.accel[0];
+  seg->accel[1] = imu.accel[1];
+  seg->accel[2] = imu.accel[2];
+  seg->gyro[0] = imu.gyro[0];
+  seg->gyro[1] = imu.gyro[1];
+  seg->gyro[2] = imu.gyro[2];
+}
+
+void unpack_imu_packet(const std::uint8_t *data, ImuPacket *pkg) {
+  pkg->serial_number =
+      (*(data) << 24) | (*(data + 1) << 16) |
+      (*(data + 2) << 8) | *(data + 3);
+  std::uint32_t timestamp =
+      (*(data + 4) << 24) | (*(data + 5) << 16)|
+      (*(data + 6) << 8) | *(data + 7);
+  pkg->count = *(data + 8);
+
+  std::size_t data_n = sizeof(ImuData);  // 18
+  for (std::size_t i = 0; i < pkg->count; i++) {
+    ImuSegment seg;
+    unpack_imu_segment(ImuData(data + 9 + (data_n * i)), timestamp, &seg);
+    pkg->segments.push_back(seg);
+  }
+}
+
+void unpack_imu_res_packet(const std::uint8_t *data, ImuResPacket *res) {
+  res->header = *data;
+  res->state = *(data + 1);
+  res->size = (*(data + 2) << 8) | *(data + 3);
+
+  std::size_t data_n = sizeof(ImuData);  // 18
+  for (std::size_t i = 4; i < res->size;) {
+    ImuPacket packet;
+    unpack_imu_packet(data + i, &packet);
+    res->packets.push_back(packet);
+    i += 9 + (packet.count * data_n);
+  }
+  res->checksum = *(data + 4 + res->size);
+}
+
+}  // namespace
+
+StandardChannelsAdapter::StandardChannelsAdapter() {
+}
+
+StandardChannelsAdapter::~StandardChannelsAdapter() {
+}
+
+std::set<Option> StandardChannelsAdapter::GetOptionSupports() {
+  return option_supports_map.at(Model::STANDARD);
+}
+
+std::int32_t StandardChannelsAdapter::GetAccelRangeDefault() {
+  return 8;
+}
+
+std::vector<std::int32_t> StandardChannelsAdapter::GetAccelRangeValues() {
+  return {4, 8, 16, 32};
+}
+
+std::int32_t StandardChannelsAdapter::GetGyroRangeDefault() {
+  return 1000;
+}
+
+std::vector<std::int32_t> StandardChannelsAdapter::GetGyroRangeValues() {
+  return {500, 1000, 2000, 4000};
+}
+
+void StandardChannelsAdapter::GetImuResPacket(
+    const std::uint8_t *data, ImuResPacket *res) {
+  unpack_imu_res_packet(data, res);
+}
+
+std::size_t StandardChannelsAdapter::GetImgParamsFromData(
+    const std::uint8_t *data, const Version *version,
+    Channels::img_params_t *img_params) {
+  std::size_t i = 0;
+
+  Intrinsics in_left, in_right;
+  Extrinsics ex_right_to_left;
+
+  i += bytes::from_data(&in_left, data + i, version);
+  i += bytes::from_data(&in_right, data + i, version);
+  i += bytes::from_data(&ex_right_to_left, data + i, version);
+  (*img_params)[{752, 480}] = {true, in_left, in_right, ex_right_to_left};
+
+  return i;
+}
+
+std::size_t StandardChannelsAdapter::SetImgParamsToData(
+    const Channels::img_params_t *img_params, const Version *version,
+    std::uint8_t *data) {
+  std::size_t i = 3;  // skip id, size
+
+  auto &&params = (*img_params).at({752, 480});
+  i += bytes::to_data(&params.in_left, data + i, version);
+  i += bytes::to_data(&params.in_right, data + i, version);
+  i += bytes::to_data(&params.ex_right_to_left, data + i, version);
+
+  // others
+  std::size_t size = i - 3;
+  data[0] = Channels::FID_IMG_PARAMS;
+  data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
+  data[2] = static_cast<std::uint8_t>(size & 0xFF);
+  return size + 3;
+}
+
+MYNTEYE_END_NAMESPACE
--- a/src/mynteye/device/standard/channels_adapter_s.h
+++ b/src/mynteye/device/standard/channels_adapter_s.h
@ -0,0 +1,51 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef MYNTEYE_DEVICE_STANDARD_CHANNELS_ADAPTER_S_H_
+#define MYNTEYE_DEVICE_STANDARD_CHANNELS_ADAPTER_S_H_
+#pragma once
+
+#include <cstdint>
+#include <set>
+#include <vector>
+
+#include "mynteye/device/channels.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+class StandardChannelsAdapter : public ChannelsAdapter {
+ public:
+  StandardChannelsAdapter();
+  virtual ~StandardChannelsAdapter();
+
+  std::set<Option> GetOptionSupports() override;
+
+  std::int32_t GetAccelRangeDefault() override;
+  std::vector<std::int32_t> GetAccelRangeValues() override;
+
+  std::int32_t GetGyroRangeDefault() override;
+  std::vector<std::int32_t> GetGyroRangeValues() override;
+
+  void GetImuResPacket(const std::uint8_t *data, ImuResPacket *res) override;
+
+  std::size_t GetImgParamsFromData(
+      const std::uint8_t *data, const Version *version,
+      Channels::img_params_t *img_params) override;
+  std::size_t SetImgParamsToData(
+      const Channels::img_params_t *img_params, const Version *version,
+      std::uint8_t *data) override;
+};
+
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_DEVICE_STANDARD_CHANNELS_ADAPTER_S_H_
--- a/src/mynteye/device/standard/device_s.cc
+++ b/src/mynteye/device/standard/device_s.cc
@ -11,15 +11,19 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "mynteye/device/device_s.h"
+#include "mynteye/device/standard/device_s.h"

 #include "mynteye/logger.h"
 #include "mynteye/device/motions.h"
+#include "mynteye/device/standard/channels_adapter_s.h"
+#include "mynteye/device/standard/streams_adapter_s.h"

 MYNTEYE_BEGIN_NAMESPACE

 StandardDevice::StandardDevice(std::shared_ptr<uvc::device> device)
-    : Device(Model::STANDARD, device) {
+  : Device(Model::STANDARD, device,
+           std::make_shared<StandardStreamsAdapter>(),
+           std::make_shared<StandardChannelsAdapter>()) {
  VLOG(2) << __func__;
 }

@ -27,8 +31,8 @@ StandardDevice::~StandardDevice() {
  VLOG(2) << __func__;
 }

-std::vector<Stream> StandardDevice::GetKeyStreams() const {
-  return {Stream::LEFT, Stream::RIGHT};
+Capabilities StandardDevice::GetKeyStreamCapability() const {
+  return Capabilities::STEREO;
 }

 void StandardDevice::OnStereoStreamUpdate() {
--- a/src/mynteye/device/standard/device_s.h
+++ b/src/mynteye/device/standard/device_s.h
@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef MYNTEYE_DEVICE_DEVICE_S_H_
-#define MYNTEYE_DEVICE_DEVICE_S_H_
+#ifndef MYNTEYE_DEVICE_STANDARD_DEVICE_S_H_
+#define MYNTEYE_DEVICE_STANDARD_DEVICE_S_H_
 #pragma once

 #include <memory>
@ -27,11 +27,11 @@ class StandardDevice : public Device {
  explicit StandardDevice(std::shared_ptr<uvc::device> device);
  virtual ~StandardDevice();

-  std::vector<Stream> GetKeyStreams() const override;
+  Capabilities GetKeyStreamCapability() const override;

  void OnStereoStreamUpdate() override;
 };

 MYNTEYE_END_NAMESPACE

-#endif  // MYNTEYE_DEVICE_DEVICE_S_H_
+#endif  // MYNTEYE_DEVICE_STANDARD_DEVICE_S_H_
--- a/src/mynteye/device/standard/streams_adapter_s.cc
+++ b/src/mynteye/device/standard/streams_adapter_s.cc
@ -0,0 +1,163 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#include "mynteye/device/standard/streams_adapter_s.h"
+
+#include <iomanip>
+
+#include "mynteye/logger.h"
+#include "mynteye/device/types.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace {
+
+// image info
+
+#pragma pack(push, 1)
+struct ImagePacket {
+  std::uint8_t header;
+  std::uint8_t size;
+  std::uint16_t frame_id;
+  std::uint32_t timestamp;
+  std::uint16_t exposure_time;
+  std::uint8_t checksum;
+
+  ImagePacket() = default;
+  explicit ImagePacket(std::uint8_t *data) {
+    from_data(data);
+  }
+
+  void from_data(std::uint8_t *data) {
+    header = *data;
+    size = *(data + 1);
+    frame_id = (*(data + 2) << 8) | *(data + 3);
+    timestamp = (*(data + 4) << 24) | (*(data + 5) << 16) | (*(data + 6) << 8) |
+                *(data + 7);
+    exposure_time = (*(data + 8) << 8) | *(data + 9);
+    checksum = *(data + 10);
+  }
+};
+#pragma pack(pop)
+
+bool unpack_stereo_img_data(
+    const void *data, const StreamRequest &request, ImgData *img) {
+  CHECK_NOTNULL(img);
+
+  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
+  std::size_t data_n =
+      request.width * request.height * bytes_per_pixel(request.format);
+  auto data_end = data_new + data_n;
+
+  std::size_t packet_n = sizeof(ImagePacket);
+  std::vector<std::uint8_t> packet(packet_n);
+  std::reverse_copy(data_end - packet_n, data_end, packet.begin());
+
+  ImagePacket img_packet(packet.data());
+  // LOG(INFO) << "ImagePacket: header=0x" << std::hex <<
+  // static_cast<int>(img_packet.header)
+  //   << ", size=0x" << std::hex << static_cast<int>(img_packet.size)
+  //   << ", frame_id="<< std::dec << img_packet.frame_id
+  //   << ", timestamp="<< std::dec << img_packet.timestamp
+  //   << ", exposure_time="<< std::dec << img_packet.exposure_time
+  //   << ", checksum=0x" << std::hex << static_cast<int>(img_packet.checksum);
+
+  if (img_packet.header != 0x3B) {
+    VLOG(2) << "Image packet header must be 0x3B, but 0x" << std::hex
+            << std::uppercase << std::setw(2) << std::setfill('0')
+            << static_cast<int>(img_packet.header) << " now";
+    return false;
+  }
+
+  std::uint8_t checksum = 0;
+  for (std::size_t i = 2, n = packet_n - 2; i <= n; i++) {  // content: [2,9]
+    checksum = (checksum ^ packet[i]);
+  }
+
+  if (img_packet.checksum != checksum) {
+    VLOG(2) << "Image packet checksum should be 0x" << std::hex
+            << std::uppercase << std::setw(2) << std::setfill('0')
+            << static_cast<int>(img_packet.checksum) << ", but 0x"
+            << std::setw(2) << std::setfill('0') << static_cast<int>(checksum)
+            << " now";
+    return false;
+  }
+
+  img->frame_id = img_packet.frame_id;
+  // make timestamp unit from 10us to 1us
+  img->timestamp = static_cast<uint64_t>(img_packet.timestamp) * 10;
+  img->exposure_time = img_packet.exposure_time;
+  return true;
+}
+
+// image pixels
+
+bool unpack_left_img_pixels(
+    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
+  CHECK_NOTNULL(frame);
+  CHECK_EQ(request.format, Format::YUYV);
+  CHECK_EQ(frame->format(), Format::GREY);
+  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
+  std::size_t n = frame->width() * frame->height();
+  for (std::size_t i = 0; i < n; i++) {
+    frame->data()[i] = *(data_new + (i * 2));
+  }
+  return true;
+}
+
+bool unpack_right_img_pixels(
+    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
+  CHECK_NOTNULL(frame);
+  CHECK_EQ(request.format, Format::YUYV);
+  CHECK_EQ(frame->format(), Format::GREY);
+  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
+  std::size_t n = frame->width() * frame->height();
+  for (std::size_t i = 0; i < n; i++) {
+    frame->data()[i] = *(data_new + (i * 2 + 1));
+  }
+  return true;
+}
+
+}  // namespace
+
+StandardStreamsAdapter::StandardStreamsAdapter() {
+}
+
+StandardStreamsAdapter::~StandardStreamsAdapter() {
+}
+
+std::vector<Stream> StandardStreamsAdapter::GetKeyStreams() {
+  return {Stream::LEFT, Stream::RIGHT};
+}
+
+std::vector<Capabilities> StandardStreamsAdapter::GetStreamCapabilities() {
+  return {Capabilities::STEREO};
+}
+
+std::map<Stream, Streams::unpack_img_data_t>
+StandardStreamsAdapter::GetUnpackImgDataMap() {
+  return {
+    {Stream::LEFT, unpack_stereo_img_data},
+    {Stream::RIGHT, unpack_stereo_img_data}
+  };
+}
+
+std::map<Stream, Streams::unpack_img_pixels_t>
+StandardStreamsAdapter::GetUnpackImgPixelsMap() {
+  return {
+    {Stream::LEFT, unpack_left_img_pixels},
+    {Stream::RIGHT, unpack_right_img_pixels}
+  };
+}
+
+MYNTEYE_END_NAMESPACE
--- a/src/mynteye/device/standard/streams_adapter_s.h
+++ b/src/mynteye/device/standard/streams_adapter_s.h
@ -0,0 +1,42 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef MYNTEYE_DEVICE_STANDARD_STREAMS_ADAPTER_S_H_
+#define MYNTEYE_DEVICE_STANDARD_STREAMS_ADAPTER_S_H_
+#pragma once
+
+#include <map>
+#include <memory>
+#include <vector>
+
+#include "mynteye/device/streams.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+class StandardStreamsAdapter : public StreamsAdapter {
+ public:
+  StandardStreamsAdapter();
+  virtual ~StandardStreamsAdapter();
+
+  std::vector<Stream> GetKeyStreams() override;
+  std::vector<Capabilities> GetStreamCapabilities() override;
+
+  std::map<Stream, Streams::unpack_img_data_t>
+  GetUnpackImgDataMap() override;
+  std::map<Stream, Streams::unpack_img_pixels_t>
+  GetUnpackImgPixelsMap() override;
+};
+
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_DEVICE_STANDARD_STREAMS_ADAPTER_S_H_
--- a/src/mynteye/device/standard2/channels_adapter_s2.cc
+++ b/src/mynteye/device/standard2/channels_adapter_s2.cc
@ -0,0 +1,173 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#include "mynteye/device/standard2/channels_adapter_s2.h"
+
+#include "mynteye/device/config.h"
+#include "mynteye/logger.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace {
+
+#pragma pack(push, 1)
+struct ImuData {
+  std::uint32_t frame_id;
+  std::uint64_t timestamp;
+  std::uint8_t flag;
+  std::int16_t temperature;
+  std::int16_t accel_or_gyro[3];
+
+  ImuData() = default;
+  explicit ImuData(const std::uint8_t *data) {
+    from_data(data);
+  }
+
+  void from_data(const std::uint8_t *data) {
+    std::uint32_t timestamp_l;
+    std::uint32_t timestamp_h;
+
+    frame_id = (*(data) << 24) | (*(data + 1) << 16) | (*(data + 2) << 8) |
+                    *(data + 3);
+    timestamp_h = (*(data + 4) << 24) | (*(data + 5) << 16) |
+                  (*(data + 6) << 8) | *(data + 7);
+    timestamp_l = (*(data + 8) << 24) | (*(data + 9) << 16) |
+                  (*(data + 10) << 8) | *(data + 11);
+    timestamp = (static_cast<std::uint64_t>(timestamp_h) << 32) | timestamp_l;
+    flag = *(data + 12);
+    temperature = (*(data + 13) << 8) | *(data + 14);
+    accel_or_gyro[0] = (*(data + 15) << 8) | *(data + 16);
+    accel_or_gyro[1] = (*(data + 17) << 8) | *(data + 18);
+    accel_or_gyro[2] = (*(data + 19) << 8) | *(data + 20);
+  }
+};
+#pragma pack(pop)
+
+void unpack_imu_segment(const ImuData &imu, ImuSegment *seg) {
+  seg->frame_id = imu.frame_id;
+  seg->timestamp = imu.timestamp;
+  seg->flag = imu.flag;
+  seg->temperature = imu.temperature;
+  seg->accel[0] = (seg->flag == 1) ? imu.accel_or_gyro[0] : 0;
+  seg->accel[1] = (seg->flag == 1) ? imu.accel_or_gyro[1] : 0;
+  seg->accel[2] = (seg->flag == 1) ? imu.accel_or_gyro[2] : 0;
+  seg->gyro[0] = (seg->flag == 2) ? imu.accel_or_gyro[0] : 0;
+  seg->gyro[1] = (seg->flag == 2) ? imu.accel_or_gyro[1] : 0;
+  seg->gyro[2] = (seg->flag == 2) ? imu.accel_or_gyro[2] : 0;
+}
+
+void unpack_imu_packet(const std::uint8_t *data, ImuPacket *pkg) {
+  std::size_t data_n = sizeof(ImuData);  // 21
+  for (std::size_t i = 0; i < pkg->count; i++) {
+    ImuSegment seg;
+    unpack_imu_segment(ImuData(data + data_n * i), &seg);
+    pkg->segments.push_back(seg);
+  }
+  pkg->serial_number = pkg->segments.back().frame_id;
+}
+
+void unpack_imu_res_packet(const std::uint8_t *data, ImuResPacket *res) {
+  res->header = *data;
+  res->state = *(data + 1);
+  res->size = (*(data + 2) << 8) | *(data + 3);
+
+  std::size_t data_n = sizeof(ImuData);  // 21
+  ImuPacket packet;
+  packet.count = res->size / data_n;
+  unpack_imu_packet(data + 4, &packet);
+  res->packets.push_back(packet);
+  res->checksum = *(data + 4 + res->size);
+}
+
+}  // namespace
+
+Standard2ChannelsAdapter::Standard2ChannelsAdapter() {
+}
+
+Standard2ChannelsAdapter::~Standard2ChannelsAdapter() {
+}
+
+std::set<Option> Standard2ChannelsAdapter::GetOptionSupports() {
+  return option_supports_map.at(Model::STANDARD2);
+}
+
+std::int32_t Standard2ChannelsAdapter::GetAccelRangeDefault() {
+  return 12;
+}
+
+std::vector<std::int32_t> Standard2ChannelsAdapter::GetAccelRangeValues() {
+  return {6, 12, 24, 48};
+}
+
+std::int32_t Standard2ChannelsAdapter::GetGyroRangeDefault() {
+  return 1000;
+}
+
+std::vector<std::int32_t> Standard2ChannelsAdapter::GetGyroRangeValues() {
+  return {250, 500, 1000, 2000, 4000};
+}
+
+void Standard2ChannelsAdapter::GetImuResPacket(
+    const std::uint8_t *data, ImuResPacket *res) {
+  unpack_imu_res_packet(data, res);
+}
+
+std::size_t Standard2ChannelsAdapter::GetImgParamsFromData(
+    const std::uint8_t *data, const Version *version,
+    Channels::img_params_t *img_params) {
+  std::size_t i = 0;
+
+  Intrinsics in_left, in_right;
+  Extrinsics ex_right_to_left;
+
+  i += bytes::from_data(&in_left, data + i, version);
+  i += bytes::from_data(&in_right, data + i, version);
+  (*img_params)[{1280, 400}] = {true, in_left, in_right, ex_right_to_left};
+
+  i += bytes::from_data(&in_left, data + i, version);
+  i += bytes::from_data(&in_right, data + i, version);
+  (*img_params)[{2560, 800}] = {true, in_left, in_right, ex_right_to_left};
+
+  i += bytes::from_data(&ex_right_to_left, data + i, version);
+  (*img_params)[{1280, 400}].ex_right_to_left = ex_right_to_left;
+  (*img_params)[{2560, 800}].ex_right_to_left = ex_right_to_left;
+
+  return i;
+}
+
+std::size_t Standard2ChannelsAdapter::SetImgParamsToData(
+    const Channels::img_params_t *img_params, const Version *version,
+    std::uint8_t *data) {
+  std::size_t i = 3;  // skip id, size
+
+  {
+    auto &&params = (*img_params).at({1280, 400});
+    i += bytes::to_data(&params.in_left, data + i, version);
+    i += bytes::to_data(&params.in_right, data + i, version);
+  }
+  {
+    auto &&params = (*img_params).at({2560, 800});
+    i += bytes::to_data(&params.in_left, data + i, version);
+    i += bytes::to_data(&params.in_right, data + i, version);
+    i += bytes::to_data(&params.ex_right_to_left, data + i, version);
+  }
+
+  // others
+  std::size_t size = i - 3;
+  data[0] = Channels::FID_IMG_PARAMS;
+  data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
+  data[2] = static_cast<std::uint8_t>(size & 0xFF);
+  return size + 3;
+}
+
+MYNTEYE_END_NAMESPACE
--- a/src/mynteye/device/standard2/channels_adapter_s2.h
+++ b/src/mynteye/device/standard2/channels_adapter_s2.h
@ -0,0 +1,51 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef MYNTEYE_DEVICE_STANDARD2_CHANNELS_ADAPTER_S2_H_
+#define MYNTEYE_DEVICE_STANDARD2_CHANNELS_ADAPTER_S2_H_
+#pragma once
+
+#include <cstdint>
+#include <set>
+#include <vector>
+
+#include "mynteye/device/channels.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+class Standard2ChannelsAdapter : public ChannelsAdapter {
+ public:
+  Standard2ChannelsAdapter();
+  virtual ~Standard2ChannelsAdapter();
+
+  std::set<Option> GetOptionSupports() override;
+
+  std::int32_t GetAccelRangeDefault() override;
+  std::vector<std::int32_t> GetAccelRangeValues() override;
+
+  std::int32_t GetGyroRangeDefault() override;
+  std::vector<std::int32_t> GetGyroRangeValues() override;
+
+  void GetImuResPacket(const std::uint8_t *data, ImuResPacket *res) override;
+
+  std::size_t GetImgParamsFromData(
+      const std::uint8_t *data, const Version *version,
+      Channels::img_params_t *img_params) override;
+  std::size_t SetImgParamsToData(
+      const Channels::img_params_t *img_params, const Version *version,
+      std::uint8_t *data) override;
+};
+
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_DEVICE_STANDARD2_CHANNELS_ADAPTER_S2_H_
--- a/src/mynteye/device/standard2/device_s2.cc
+++ b/src/mynteye/device/standard2/device_s2.cc
@ -0,0 +1,45 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#include "mynteye/device/standard2/device_s2.h"
+
+#include "mynteye/logger.h"
+#include "mynteye/device/motions.h"
+#include "mynteye/device/standard2/channels_adapter_s2.h"
+#include "mynteye/device/standard2/streams_adapter_s2.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+Standard2Device::Standard2Device(std::shared_ptr<uvc::device> device)
+  : Device(Model::STANDARD2, device,
+           std::make_shared<Standard2StreamsAdapter>(),
+           std::make_shared<Standard2ChannelsAdapter>()) {
+  VLOG(2) << __func__;
+}
+
+Standard2Device::~Standard2Device() {
+  VLOG(2) << __func__;
+}
+
+Capabilities Standard2Device::GetKeyStreamCapability() const {
+  return Capabilities::STEREO_COLOR;
+}
+
+void Standard2Device::OnStereoStreamUpdate() {
+  if (motion_tracking_) {
+    auto &&motions = this->motions();
+    motions->DoMotionTrack();
+  }
+}
+
+MYNTEYE_END_NAMESPACE
--- a/src/mynteye/device/standard2/device_s2.h
+++ b/src/mynteye/device/standard2/device_s2.h
@ -0,0 +1,37 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef MYNTEYE_DEVICE_STANDARD2_DEVICE_S2_H_
+#define MYNTEYE_DEVICE_STANDARD2_DEVICE_S2_H_
+#pragma once
+
+#include <memory>
+#include <vector>
+
+#include "mynteye/device/device.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+class Standard2Device : public Device {
+ public:
+  explicit Standard2Device(std::shared_ptr<uvc::device> device);
+  virtual ~Standard2Device();
+
+  Capabilities GetKeyStreamCapability() const override;
+
+  void OnStereoStreamUpdate() override;
+};
+
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_DEVICE_STANDARD2_DEVICE_S2_H_
--- a/src/mynteye/device/standard2/streams_adapter_s2.cc
+++ b/src/mynteye/device/standard2/streams_adapter_s2.cc
@ -0,0 +1,186 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#include "mynteye/device/standard2/streams_adapter_s2.h"
+
+#include <iomanip>
+
+#include "mynteye/logger.h"
+#include "mynteye/device/types.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace {
+
+// image info
+
+#pragma pack(push, 1)
+struct ImagePacket {
+  std::uint8_t header;
+  std::uint8_t size;
+  std::uint16_t frame_id;
+  std::uint64_t timestamp;
+  std::uint16_t exposure_time;
+  std::uint8_t checksum;
+
+  ImagePacket() = default;
+  explicit ImagePacket(std::uint8_t *data) {
+    from_data(data);
+  }
+
+  void from_data(std::uint8_t *data) {
+    std::uint32_t timestamp_l;
+    std::uint32_t timestamp_h;
+
+    header = *data;
+    size = *(data + 1);
+    frame_id = (*(data + 2) << 8) | *(data + 3);
+    timestamp_h = (*(data + 4) << 24) | (*(data + 5) << 16) |
+                  (*(data + 6) << 8) | *(data + 7);
+    timestamp_l = (*(data + 8) << 24) | (*(data + 9) << 16) |
+                  (*(data + 10) << 8) | *(data + 11);
+    timestamp = (static_cast<std::uint64_t>(timestamp_h) << 32) | timestamp_l;
+    exposure_time = (*(data + 12) << 8) | *(data + 13);
+    checksum = *(data + 14);
+  }
+};
+#pragma pack(pop)
+
+// image pixels
+
+bool unpack_left_img_pixels(
+    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
+  CHECK_NOTNULL(frame);
+  CHECK_EQ(request.format, Format::BGR888);
+  CHECK_EQ(frame->format(), Format::BGR888);
+  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
+  std::size_t n = 3;
+  std::size_t w = frame->width();
+  std::size_t h = frame->height();
+  for (std::size_t i = 0; i < h; i++) {
+    for (std::size_t j = 0; j < w; j++) {
+      frame->data()[(i * w + j) * n] =
+        *(data_new + (2 * i * w + j) * n + 2);
+      frame->data()[(i * w + j) * n + 1] =
+        *(data_new + (2 * i * w + j) * n + 1);
+      frame->data()[(i * w + j) * n + 2] =
+        *(data_new + (2 * i * w + j) * n);
+    }
+  }
+  return true;
+}
+
+bool unpack_right_img_pixels(
+    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
+  CHECK_NOTNULL(frame);
+  CHECK_EQ(request.format, Format::BGR888);
+  CHECK_EQ(frame->format(), Format::BGR888);
+  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
+  std::size_t n = 3;
+  std::size_t w = frame->width();
+  std::size_t h = frame->height();
+  for (std::size_t i = 0; i < h; i++) {
+    for (std::size_t j = 0; j < w; j++) {
+      frame->data()[(i * w + j) * n] =
+        *(data_new + ((2 * i + 1) * w + j) * n + 2);
+      frame->data()[(i * w + j) * n + 1] =
+        *(data_new + ((2 * i + 1) * w + j) * n + 1);
+      frame->data()[(i * w + j) * n + 2] =
+        *(data_new + ((2 * i + 1) * w + j) * n);
+    }
+  }
+  return true;
+}
+
+bool unpack_stereo_img_data(
+    const void *data, const StreamRequest &request, ImgData *img) {
+  CHECK_NOTNULL(img);
+
+  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
+  std::size_t data_n =
+      request.width * request.height * bytes_per_pixel(request.format);
+  auto data_end = data_new + data_n;
+
+  std::size_t packet_n = sizeof(ImagePacket);
+  std::vector<std::uint8_t> packet(packet_n);
+  std::reverse_copy(data_end - packet_n, data_end, packet.begin());
+
+  ImagePacket img_packet(packet.data());
+  // LOG(INFO) << "ImagePacket: header=0x" << std::hex <<
+  // static_cast<int>(img_packet.header)
+  //   << ", size=0x" << std::hex << static_cast<int>(img_packet.size)
+  //   << ", frame_id="<< std::dec << img_packet.frame_id
+  //   << ", timestamp="<< std::dec << img_packet.timestamp
+  //   << ", exposure_time="<< std::dec << img_packet.exposure_time
+  //   << ", checksum=0x" << std::hex << static_cast<int>(img_packet.checksum);
+
+  if (img_packet.header != 0x3B) {
+    VLOG(2) << "Image packet header must be 0x3B, but 0x" << std::hex
+            << std::uppercase << std::setw(2) << std::setfill('0')
+            << static_cast<int>(img_packet.header) << " now";
+    return false;
+  }
+
+  std::uint8_t checksum = 0;
+  for (std::size_t i = 2, n = packet_n - 2; i <= n; i++) {  // content: [2,9]
+    checksum = (checksum ^ packet[i]);
+  }
+/*
+  if (img_packet.checksum != checksum) {
+    VLOG(2) << "Image packet checksum should be 0x" << std::hex
+            << std::uppercase << std::setw(2) << std::setfill('0')
+            << static_cast<int>(img_packet.checksum) << ", but 0x"
+            << std::setw(2) << std::setfill('0') << static_cast<int>(checksum)
+            << " now";
+    return false;
+  }
+*/
+  img->frame_id = img_packet.frame_id;
+  img->timestamp = img_packet.timestamp;
+  img->exposure_time = img_packet.exposure_time;
+  return true;
+}
+
+}  // namespace
+
+Standard2StreamsAdapter::Standard2StreamsAdapter() {
+}
+
+Standard2StreamsAdapter::~Standard2StreamsAdapter() {
+}
+
+std::vector<Stream> Standard2StreamsAdapter::GetKeyStreams() {
+  return {Stream::LEFT, Stream::RIGHT};
+}
+
+std::vector<Capabilities> Standard2StreamsAdapter::GetStreamCapabilities() {
+  return {Capabilities::STEREO_COLOR};
+}
+
+std::map<Stream, Streams::unpack_img_data_t>
+Standard2StreamsAdapter::GetUnpackImgDataMap() {
+  return {
+    {Stream::LEFT, unpack_stereo_img_data},
+    {Stream::RIGHT, unpack_stereo_img_data}
+  };
+}
+
+std::map<Stream, Streams::unpack_img_pixels_t>
+Standard2StreamsAdapter::GetUnpackImgPixelsMap() {
+  return {
+    {Stream::LEFT, unpack_left_img_pixels},
+    {Stream::RIGHT, unpack_right_img_pixels}
+  };
+}
+
+MYNTEYE_END_NAMESPACE
--- a/src/mynteye/device/standard2/streams_adapter_s2.h
+++ b/src/mynteye/device/standard2/streams_adapter_s2.h
@ -0,0 +1,42 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef MYNTEYE_DEVICE_STANDARD2_STREAMS_ADAPTER_S2_H_
+#define MYNTEYE_DEVICE_STANDARD2_STREAMS_ADAPTER_S2_H_
+#pragma once
+
+#include <map>
+#include <memory>
+#include <vector>
+
+#include "mynteye/device/streams.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+class Standard2StreamsAdapter : public StreamsAdapter {
+ public:
+  Standard2StreamsAdapter();
+  virtual ~Standard2StreamsAdapter();
+
+  std::vector<Stream> GetKeyStreams() override;
+  std::vector<Capabilities> GetStreamCapabilities() override;
+
+  std::map<Stream, Streams::unpack_img_data_t>
+  GetUnpackImgDataMap() override;
+  std::map<Stream, Streams::unpack_img_pixels_t>
+  GetUnpackImgPixelsMap() override;
+};
+
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_DEVICE_STANDARD2_STREAMS_ADAPTER_S2_H_
--- a/src/mynteye/device/streams.cc
+++ b/src/mynteye/device/streams.cc
@ -15,7 +15,6 @@

 #include <algorithm>
 #include <chrono>
-#include <iomanip>
 #include <stdexcept>

 #include "mynteye/logger.h"
@ -23,97 +22,11 @@

 MYNTEYE_BEGIN_NAMESPACE

-namespace {
-
-bool unpack_stereo_img_data(
-    const void *data, const StreamRequest &request, ImgData *img) {
-  CHECK_NOTNULL(img);
-  CHECK_EQ(request.format, Format::YUYV);
-
-  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t data_n =
-      request.width * request.height * bytes_per_pixel(request.format);
-  auto data_end = data_new + data_n;
-
-  std::size_t packet_n = sizeof(ImagePacket);
-  std::vector<std::uint8_t> packet(packet_n);
-  std::reverse_copy(data_end - packet_n, data_end, packet.begin());
-
-  ImagePacket img_packet(packet.data());
-  // LOG(INFO) << "ImagePacket: header=0x" << std::hex <<
-  // static_cast<int>(img_packet.header)
-  //   << ", size=0x" << std::hex << static_cast<int>(img_packet.size)
-  //   << ", frame_id="<< std::dec << img_packet.frame_id
-  //   << ", timestamp="<< std::dec << img_packet.timestamp
-  //   << ", exposure_time="<< std::dec << img_packet.exposure_time
-  //   << ", checksum=0x" << std::hex << static_cast<int>(img_packet.checksum);
-
-  if (img_packet.header != 0x3B) {
-    VLOG(2) << "Image packet header must be 0x3B, but 0x" << std::hex
-            << std::uppercase << std::setw(2) << std::setfill('0')
-            << static_cast<int>(img_packet.header) << " now";
-    return false;
-  }
-
-  std::uint8_t checksum = 0;
-  for (std::size_t i = 2, n = packet_n - 2; i <= n; i++) {  // content: [2,9]
-    checksum = (checksum ^ packet[i]);
-  }
-  if (img_packet.checksum != checksum) {
-    VLOG(2) << "Image packet checksum should be 0x" << std::hex
-            << std::uppercase << std::setw(2) << std::setfill('0')
-            << static_cast<int>(img_packet.checksum) << ", but 0x"
-            << std::setw(2) << std::setfill('0') << static_cast<int>(checksum)
-            << " now";
-    return false;
-  }
-
-  img->frame_id = img_packet.frame_id;
-  img->timestamp = img_packet.timestamp;
-  img->exposure_time = img_packet.exposure_time;
-  return true;
-}
-
-bool unpack_left_img_pixels(
-    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
-  CHECK_NOTNULL(frame);
-  CHECK_EQ(request.format, Format::YUYV);
-  CHECK_EQ(frame->format(), Format::GREY);
-  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t n = frame->width() * frame->height();
-  for (std::size_t i = 0; i < n; i++) {
-    frame->data()[i] = *(data_new + (i * 2));
-  }
-  return true;
-}
-
-bool unpack_right_img_pixels(
-    const void *data, const StreamRequest &request, Streams::frame_t *frame) {
-  CHECK_NOTNULL(frame);
-  CHECK_EQ(request.format, Format::YUYV);
-  CHECK_EQ(frame->format(), Format::GREY);
-  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t n = frame->width() * frame->height();
-  for (std::size_t i = 0; i < n; i++) {
-    frame->data()[i] = *(data_new + (i * 2 + 1));
-  }
-  return true;
-}
-
-}  // namespace
-
-Streams::Streams(const std::vector<Stream> key_streams)
-    : key_streams_(key_streams),
-      stream_capabilities_(
-          {Capabilities::STEREO, Capabilities::COLOR, Capabilities::DEPTH,
-           Capabilities::POINTS, Capabilities::FISHEYE, Capabilities::INFRARED,
-           Capabilities::INFRARED2}),
-      unpack_img_data_map_(
-          {{Stream::LEFT, unpack_stereo_img_data},
-           {Stream::RIGHT, unpack_stereo_img_data}}),
-      unpack_img_pixels_map_(
-          {{Stream::LEFT, unpack_left_img_pixels},
-           {Stream::RIGHT, unpack_right_img_pixels}}) {
+Streams::Streams(const std::shared_ptr<StreamsAdapter> &adapter)
+    : key_streams_(std::move(adapter->GetKeyStreams())),
+      stream_capabilities_(std::move(adapter->GetStreamCapabilities())),
+      unpack_img_data_map_(std::move(adapter->GetUnpackImgDataMap())),
+      unpack_img_pixels_map_(std::move(adapter->GetUnpackImgPixelsMap())) {
  VLOG(2) << __func__;
 }

@ -139,16 +52,17 @@ bool Streams::PushStream(const Capabilities &capability, const void *data) {
  auto &&request = GetStreamConfigRequest(capability);
  bool pushed = false;
  switch (capability) {
-    case Capabilities::STEREO: {
+    case Capabilities::STEREO:
+    case Capabilities::STEREO_COLOR: {
      // alloc left
-      AllocStreamData(Stream::LEFT, request, Format::GREY);
+      AllocStreamData(capability, Stream::LEFT, request);
      auto &&left_data = stream_datas_map_[Stream::LEFT].back();
      // unpack img data
      if (unpack_img_data_map_[Stream::LEFT](
              data, request, left_data.img.get())) {
        left_data.frame_id = left_data.img->frame_id;
        // alloc right
-        AllocStreamData(Stream::RIGHT, request, Format::GREY);
+        AllocStreamData(capability, Stream::RIGHT, request);
        auto &&right_data = stream_datas_map_[Stream::RIGHT].back();
        *right_data.img = *left_data.img;
        right_data.frame_id = left_data.img->frame_id;
@ -252,12 +166,16 @@ bool Streams::HasStreamDatas(const Stream &stream) const {
         !stream_datas_map_.at(stream).empty();
 }

-void Streams::AllocStreamData(
+void Streams::AllocStreamData(const Capabilities &capability,
    const Stream &stream, const StreamRequest &request) {
-  AllocStreamData(stream, request, request.format);
+  auto format = request.format;
+  if (capability == Capabilities::STEREO) {
+    format = Format::GREY;
+  }
+  AllocStreamData(capability, stream, request, format);
 }

-void Streams::AllocStreamData(
+void Streams::AllocStreamData(const Capabilities &capability,
    const Stream &stream, const StreamRequest &request, const Format &format) {
  stream_data_t data;

@ -282,8 +200,12 @@ void Streams::AllocStreamData(
    data.img = nullptr;
  }
  if (!data.frame) {
-    data.frame = std::make_shared<frame_t>(
-        request.width, request.height, format, nullptr);
+    auto width = request.width;
+    if (capability == Capabilities::STEREO_COLOR) {
+      width /= 2;  // split to half
+    }
+    data.frame =
+      std::make_shared<frame_t>(width, request.height, format, nullptr);
  }
  data.frame_id = 0;
  stream_datas_map_[stream].push_back(data);
--- a/src/mynteye/device/streams.h
+++ b/src/mynteye/device/streams.h
@ -18,6 +18,7 @@
 #include <condition_variable>
 #include <functional>
 #include <map>
+#include <memory>
 #include <mutex>
 #include <vector>

@ -27,6 +28,8 @@

 MYNTEYE_BEGIN_NAMESPACE

+class StreamsAdapter;
+
 class Streams {
 public:
  using frame_t = device::Frame;
@ -38,7 +41,7 @@ class Streams {
  using unpack_img_pixels_t = std::function<bool(
      const void *data, const StreamRequest &request, frame_t *frame)>;

-  explicit Streams(const std::vector<Stream> key_streams);
+  explicit Streams(const std::shared_ptr<StreamsAdapter> &adapter);
  ~Streams();

  void ConfigStream(
@ -65,8 +68,9 @@ class Streams {

  bool HasStreamDatas(const Stream &stream) const;

-  void AllocStreamData(const Stream &stream, const StreamRequest &request);
-  void AllocStreamData(
+  void AllocStreamData(const Capabilities &capability,
+      const Stream &stream, const StreamRequest &request);
+  void AllocStreamData(const Capabilities &capability,
      const Stream &stream, const StreamRequest &request, const Format &format);

  void DiscardStreamData(const Stream &stream);
@ -88,6 +92,19 @@ class Streams {
  std::condition_variable cv_;
 };

+class StreamsAdapter {
+ public:
+  virtual ~StreamsAdapter() {}
+
+  virtual std::vector<Stream> GetKeyStreams() = 0;
+  virtual std::vector<Capabilities> GetStreamCapabilities() = 0;
+
+  virtual std::map<Stream, Streams::unpack_img_data_t>
+  GetUnpackImgDataMap() = 0;
+  virtual std::map<Stream, Streams::unpack_img_pixels_t>
+  GetUnpackImgPixelsMap() = 0;
+};
+
 MYNTEYE_END_NAMESPACE

 #endif  // MYNTEYE_DEVICE_STREAMS_H_
--- a/src/mynteye/device/types.h
+++ b/src/mynteye/device/types.h
@ -16,7 +16,6 @@
 #pragma once

 #include <cstdint>
-
 #include <array>
 #include <bitset>
 #include <string>
@ -139,36 +138,6 @@ struct MYNTEYE_API DeviceInfo {
  std::uint16_t nominal_baseline;
 };

-/**
- * @ingroup datatypes
- * Image packet.
- */
-#pragma pack(push, 1)
-struct ImagePacket {
-  std::uint8_t header;
-  std::uint8_t size;
-  std::uint16_t frame_id;
-  std::uint32_t timestamp;
-  std::uint16_t exposure_time;
-  std::uint8_t checksum;
-
-  ImagePacket() = default;
-  explicit ImagePacket(std::uint8_t *data) {
-    from_data(data);
-  }
-
-  void from_data(std::uint8_t *data) {
-    header = *data;
-    size = *(data + 1);
-    frame_id = (*(data + 2) << 8) | *(data + 3);
-    timestamp = (*(data + 4) << 24) | (*(data + 5) << 16) | (*(data + 6) << 8) |
-                *(data + 7);
-    exposure_time = (*(data + 8) << 8) | *(data + 9);
-    checksum = *(data + 10);
-  }
-};
-#pragma pack(pop)
-
 /**
 * @ingroup datatypes
 * Imu request packet.
@ -199,28 +168,12 @@ struct ImuReqPacket {
 */
 #pragma pack(push, 1)
 struct ImuSegment {
-  std::int16_t offset;
-  std::uint16_t frame_id;
-  std::int16_t accel[3];
+  std::uint32_t frame_id;
+  std::uint64_t timestamp;
+  std::uint8_t flag;
  std::int16_t temperature;
+  std::int16_t accel[3];
  std::int16_t gyro[3];
-
-  ImuSegment() = default;
-  explicit ImuSegment(std::uint8_t *data) {
-    from_data(data);
-  }
-
-  void from_data(std::uint8_t *data) {
-    offset = (*(data) << 8) | *(data + 1);
-    frame_id = (*(data + 2) << 8) | *(data + 3);
-    accel[0] = (*(data + 4) << 8) | *(data + 5);
-    accel[1] = (*(data + 6) << 8) | *(data + 7);
-    accel[2] = (*(data + 8) << 8) | *(data + 9);
-    temperature = (*(data + 10) << 8) | *(data + 11);
-    gyro[0] = (*(data + 12) << 8) | *(data + 13);
-    gyro[1] = (*(data + 14) << 8) | *(data + 15);
-    gyro[2] = (*(data + 16) << 8) | *(data + 17);
-  }
 };
 #pragma pack(pop)

@ -230,28 +183,10 @@ struct ImuSegment {
 */
 #pragma pack(push, 1)
 struct ImuPacket {
-  std::uint32_t serial_number;
-  std::uint32_t timestamp;
+  std::uint8_t version;
  std::uint8_t count;
+  std::uint32_t serial_number;
  std::vector<ImuSegment> segments;
-
-  ImuPacket() = default;
-  explicit ImuPacket(std::uint8_t *data) {
-    from_data(data);
-  }
-
-  void from_data(std::uint8_t *data) {
-    serial_number = (*(data) << 24) | (*(data + 1) << 16) | (*(data + 2) << 8) |
-                    *(data + 3);
-    timestamp = (*(data + 4) << 24) | (*(data + 5) << 16) | (*(data + 6) << 8) |
-                *(data + 7);
-    count = *(data + 8);
-
-    std::size_t seg_n = sizeof(ImuSegment);  // 18
-    for (std::size_t i = 0; i < count; i++) {
-      segments.push_back(ImuSegment(data + 9 + (seg_n * i)));
-    }
-  }
 };
 #pragma pack(pop)

@ -261,31 +196,12 @@ struct ImuPacket {
 */
 #pragma pack(push, 1)
 struct ImuResPacket {
+  std::uint8_t version;
  std::uint8_t header;
  std::uint8_t state;
  std::uint16_t size;
  std::vector<ImuPacket> packets;
  std::uint8_t checksum;
-
-  ImuResPacket() = default;
-  explicit ImuResPacket(std::uint8_t *data) {
-    from_data(data);
-  }
-
-  void from_data(std::uint8_t *data) {
-    header = *data;
-    state = *(data + 1);
-    size = (*(data + 2) << 8) | *(data + 3);
-
-    std::size_t seg_n = sizeof(ImuSegment);  // 18
-    for (std::size_t i = 4; i < size;) {
-      ImuPacket packet(data + i);
-      packets.push_back(packet);
-      i += 9 + (packet.count * seg_n);
-    }
-
-    checksum = *(data + 4 + size);
-  }
 };
 #pragma pack(pop)

--- a/src/mynteye/device/utils.cc
+++ b/src/mynteye/device/utils.cc
@ -20,6 +20,8 @@
 #include "mynteye/device/context.h"
 #include "mynteye/device/device.h"

+#include "mynteye/logger.h"
+
 MYNTEYE_BEGIN_NAMESPACE

 namespace device {
@ -29,14 +31,14 @@ std::shared_ptr<Device> select() {
  Context context;
  auto &&devices = context.devices();

-  size_t n = devices.size();
+  std::size_t n = devices.size();
  if (n <= 0) {
    LOG(ERROR) << "No MYNT EYE devices :(";
    return nullptr;
  }

  LOG(INFO) << "MYNT EYE devices:";
-  for (size_t i = 0; i < n; i++) {
+  for (std::size_t i = 0; i < n; i++) {
    auto &&device = devices[i];
    LOG(INFO) << "  index: " << i
              << ", name: " << device->GetInfo(Info::DEVICE_NAME)
@ -49,7 +51,7 @@ std::shared_ptr<Device> select() {
    LOG(INFO) << "Only one MYNT EYE device, select index: 0";
  } else {
    while (true) {
-      size_t i;
+      std::size_t i;
      LOG(INFO) << "There are " << n << " MYNT EYE devices, select index: ";
      std::cin >> i;
      if (i >= n) {
@ -64,6 +66,42 @@ std::shared_ptr<Device> select() {
  return device;
 }

+MYNTEYE_NAMESPACE::StreamRequest select_request(
+    const std::shared_ptr<Device> &device, bool *ok) {
+  auto &&requests = device->GetStreamRequests();
+  std::size_t n = requests.size();
+  if (n <= 0) {
+    LOG(ERROR) << "No MYNT EYE devices :(";
+    *ok = false;
+    return {};
+  }
+
+  LOG(INFO) << "MYNT EYE devices:";
+  for (std::size_t i = 0; i < n; i++) {
+    auto &&request = requests[i];
+    LOG(INFO) << "  index: " << i
+              << ", request: " << request;
+  }
+
+  if (n <= 1) {
+    LOG(INFO) << "Only one stream request, select index: 0";
+    *ok = true;
+    return requests[0];
+  } else {
+    while (true) {
+      std::size_t i;
+      LOG(INFO) << "There are " << n << " stream requests, select index: ";
+      std::cin >> i;
+      if (i >= n) {
+        LOG(WARNING) << "Index out of range :(";
+        continue;
+      }
+      *ok = true;
+      return requests[i];
+    }
+  }
+}
+
 }  // namespace device

 namespace utils {
--- a/src/mynteye/types.cc
+++ b/src/mynteye/types.cc
@ -29,6 +29,7 @@ const char *to_string(const Model &value) {
    return "Model::" #X;
  switch (value) {
    CASE(STANDARD)
+    CASE(STANDARD2)
    default:
      CHECK(is_valid(value));
      return "Model::UNKNOWN";
@ -62,6 +63,7 @@ const char *to_string(const Capabilities &value) {
    return "Capabilities::" #X;
  switch (value) {
    CASE(STEREO)
+    CASE(STEREO_COLOR)
    CASE(COLOR)
    CASE(DEPTH)
    CASE(POINTS)
@ -109,13 +111,16 @@ const char *to_string(const Option &value) {
    CASE(EXPOSURE_MODE)
    CASE(MAX_GAIN)
    CASE(MAX_EXPOSURE_TIME)
+    CASE(MIN_EXPOSURE_TIME)
    CASE(DESIRED_BRIGHTNESS)
    CASE(IR_CONTROL)
    CASE(HDR_MODE)
-    CASE(ZERO_DRIFT_CALIBRATION)
-    CASE(ERASE_CHIP)
    CASE(ACCELEROMETER_RANGE)
    CASE(GYROSCOPE_RANGE)
+    CASE(ACCELEROMETER_LOW_PASS_FILTER)
+    CASE(GYROSCOPE_LOW_PASS_FILTER)
+    CASE(ZERO_DRIFT_CALIBRATION)
+    CASE(ERASE_CHIP)
    default:
      CHECK(is_valid(value));
      return "Option::UNKNOWN";
@ -157,6 +162,7 @@ const char *to_string(const Format &value) {
  switch (value) {
    CASE(GREY)
    CASE(YUYV)
+    CASE(BGR888)
    default:
      return "Format::UNKNOWN";
  }
@ -169,6 +175,8 @@ std::size_t bytes_per_pixel(const Format &value) {
      return 1;
    case Format::YUYV:
      return 2;
+    case Format::BGR888:
+      return 3;
    default:
      LOG(FATAL) << "Unknown format";
  }
--- a/src/mynteye/uvc/linux/uvc-v4l2.cc
+++ b/src/mynteye/uvc/linux/uvc-v4l2.cc
@ -46,9 +46,10 @@ namespace uvc {
  } while (0)

 #define NO_DATA_MAX_COUNT 200
+#define LIVING_MAX_COUNT 9000

 int no_data_count = 0;
-
+int living_count = 0;
 /*
 class device_error : public std::exception {
 public:
@ -394,6 +395,12 @@ struct device {
          if (xioctl(fd, VIDIOC_QBUF, &buf) < 0)
            throw_error("VIDIOC_QBUF");
        });
+        if (living_count < LIVING_MAX_COUNT) {
+          living_count++;
+        } else {
+          living_count = 0;
+          // LOG(INFO) << "UVC pulse detection,Please ignore.";
+        }
      }

      no_data_count = 0;
@ -402,7 +409,12 @@ struct device {
    }

    if (no_data_count > NO_DATA_MAX_COUNT) {
-      throw_error("v4l2 get stream time out!");
+      no_data_count = 0;
+      living_count = 0;
+      LOG(WARNING) << __func__
+                   << " failed: v4l2 get stream time out, Try to reboot!";
+      stop_capture();
+      start_capture();
    }
  }

--- a/src/mynteye/uvc/win/uvc-wmf.cc
+++ b/src/mynteye/uvc/win/uvc-wmf.cc
@ -64,7 +64,8 @@ namespace uvc {

 const std::map<uint32_t, uint32_t> fourcc_map = {
  { 0x56595559, 0x32595559 },  // 'VYUY' => '2YUY'
-  { 0x59555956, 0x59555932 }   // 'YUYV' => 'YUY2'
+  { 0x59555956, 0x59555932 },  // 'YUYV' => 'YUY2'
+  { 0x33524742, 0x14 }
 };

 struct throw_error {
@ -756,6 +757,7 @@ void set_device_mode(device &device, int width, int height, int fourcc, int fps,
    check("IMFMediaType::GetGUID", media_type->GetGUID(MF_MT_SUBTYPE, &subtype));
    if (subtype.Data1 != fourcc) continue;

+    check("MFSetAttributeRatio", MFSetAttributeRatio(media_type, MF_MT_FRAME_RATE, fps, 1));
    check("MFGetAttributeRatio", MFGetAttributeRatio(media_type, MF_MT_FRAME_RATE, &uvc_fps_num, &uvc_fps_denom));
    if (uvc_fps_denom == 0) continue;
    //int uvc_fps = uvc_fps_num / uvc_fps_denom;
--- a/tools/analytics/stamp_analytics.py
+++ b/tools/analytics/stamp_analytics.py
@ -97,10 +97,10 @@ class BinDataset(object):
        if What.imu in result:
          imu = result[What.imu]
          np.array([(
-              imu.timestamp,
+              imu.timestamp, imu.flag,
              imu.accel_x, imu.accel_y, imu.accel_z,
              imu.gyro_x, imu.gyro_y, imu.gyro_z
-          )], dtype="f8, f8, f8, f8, f8, f8, f8").tofile(f_imu)
+          )], dtype="f8, i4, f8, f8, f8, f8, f8, f8").tofile(f_imu)
          imu_count = imu_count + 1
          has_imu = True
        sys.stdout.write('\r  img: {}, imu: {}'.format(img_count, imu_count))
@ -130,7 +130,7 @@ class BinDataset(object):

    if self.has_imu:
      imus = np.memmap(self._binimu, dtype=[
-          ('t', 'f8'),
+          ('t', 'f8'), ('flag', 'i4'),
          ('accel_x', 'f8'), ('accel_y', 'f8'), ('accel_z', 'f8'),
          ('gyro_x', 'f8'), ('gyro_y', 'f8'), ('gyro_z', 'f8'),
      ], mode='r')
@ -145,92 +145,111 @@ class BinDataset(object):
    print('  img: {}, imu: {}'.format(period_img, period_imu))

    imgs_t_diff = np.diff(imgs['t'])
-    imus_t_diff = np.diff(imus['t'])
+    # imus_t_diff = np.diff(imus['t'])

+    accel = imus[imus['flag'] == 1]
+    accel_t_diff = np.diff(accel['t'])
+    gyro = imus[imus['flag'] == 2]
+    gyro_t_diff = np.diff(gyro['t'])
+
+    print('\ncount')
+    print('  imgs: {}, imus: {}, accel: {}, gyro: {}'.format(
+        imgs.size, imus.size, accel.size, gyro.size))
    print('\ndiff count')
-    print('  imgs: {}, imus: {}'.format(imgs['t'].size, imus['t'].size))
-    print('  imgs_t_diff: {}, imus_t_diff: {}'
-          .format(imgs_t_diff.size, imus_t_diff.size))
+    print('  imgs_t_diff: {}, accel_t_diff: {}, gyro_t_diff: {}'.format(
+        imgs_t_diff.size, accel_t_diff.size, gyro_t_diff.size))

    print('\ndiff where (factor={})'.format(args.factor))
-
-    where = np.argwhere(imgs_t_diff > period_img * (1 + args.factor))
-    print('  imgs where diff > {}*{} ({})'.format(period_img,
-                                                  1 + args.factor, where.size))
-    for x in where:
-      print('  {:8d}: {:.16f}'.format(x[0], imgs_t_diff[x][0]))
-
-    where = np.argwhere(imgs_t_diff < period_img * (1 - args.factor))
-    print('  imgs where diff < {}*{} ({})'.format(period_img,
-                                                  1 - args.factor, where.size))
-    for x in where:
-      print('  {:8d}: {:.16f}'.format(x[0], imgs_t_diff[x][0]))
-
-    where = np.argwhere(imus_t_diff > period_imu * (1 + args.factor))
-    print('  imus where diff > {}*{} ({})'.format(period_imu,
-                                                  1 + args.factor, where.size))
-    for x in where:
-      print('  {:8d}: {:.16f}'.format(x[0], imus_t_diff[x][0]))
-
-    where = np.argwhere(imus_t_diff < period_imu * (1 - args.factor))
-    print('  imus where diff < {}*{} ({})'.format(period_imu,
-                                                  1 - args.factor, where.size))
-    for x in where:
-      print('  {:8d}: {:.16f}'.format(x[0], imus_t_diff[x][0]))
+    self._print_t_diff_where('imgs', imgs_t_diff, period_img, args.factor)
+    # self._print_t_diff_where('imus', imus_t_diff, period_imu, args.factor)
+    self._print_t_diff_where('accel', accel_t_diff, period_imu, args.factor)
+    self._print_t_diff_where('gyro', gyro_t_diff, period_imu, args.factor)

    import pandas as pd
    bins = imgs['t']
    bins_n = imgs['t'].size
    bins = pd.Series(data=bins).drop_duplicates(keep='first')
-    cats = pd.cut(imus['t'], bins)

    print('\nimage timestamp duplicates: {}'.format(bins_n - bins.size))

-    self._plot(outdir, imgs_t_diff, imus_t_diff, cats.value_counts())
+    def _cut_by_imgs_t(imus_t):
+      cats = pd.cut(imus_t, bins)
+      return cats.value_counts()

-  def _plot(self, outdir, imgs_t_diff, imus_t_diff, imgs_t_imus):
+    self._plot(
+        outdir,
+        imgs_t_diff,
+        accel_t_diff,
+        _cut_by_imgs_t(
+            accel['t']),
+        gyro_t_diff,
+        _cut_by_imgs_t(
+            gyro['t']))
+
+  def _print_t_diff_where(self, name, t_diff, period, factor):
+    import numpy as np
+
+    where = np.argwhere(t_diff > period * (1 + factor))
+    print('  {} where diff > {}*{} ({})'.format(
+        name, period, 1 + factor, where.size))
+    for x in where:
+      print('  {:8d}: {:.16f}'.format(x[0], t_diff[x][0]))
+
+    where = np.argwhere(t_diff < period * (1 - factor))
+    print('  {} where diff < {}*{} ({})'.format(
+        name, period, 1 - factor, where.size))
+    for x in where:
+      print('  {:8d}: {:.16f}'.format(x[0], t_diff[x][0]))
+
+  def _plot(self, outdir, imgs_t_diff,
+            accel_t_diff, accel_counts, gyro_t_diff, gyro_counts):
    import matplotlib.pyplot as plt
    import numpy as np

-    fig_1 = plt.figure(1, [16, 6])
+    fig_1 = plt.figure(1, [16, 12])
    fig_1.suptitle('Stamp Analytics')
    fig_1.subplots_adjust(
        left=0.1,
        right=0.95,
        top=0.85,
        bottom=0.15,
-        wspace=0.4)
+        wspace=0.4,
+        hspace=0.4)

-    ax_imgs_t_diff = fig_1.add_subplot(131)
+    ax_imgs_t_diff = fig_1.add_subplot(231)
    ax_imgs_t_diff.set_title('Image Timestamp Diff')
    ax_imgs_t_diff.set_xlabel('diff index')
    ax_imgs_t_diff.set_ylabel('diff (s)')
    ax_imgs_t_diff.axis('auto')

-    ax_imus_t_diff = fig_1.add_subplot(132)
-    ax_imus_t_diff.set_title('Imu Timestamp Diff')
-    ax_imus_t_diff.set_xlabel('diff index')
-    ax_imus_t_diff.set_ylabel('diff (s)')
-    ax_imus_t_diff.axis('auto')
-
-    ax_imgs_t_imus = fig_1.add_subplot(133)
-    ax_imgs_t_imus.set_title('Imu Count Per Image Intervel')
-    ax_imgs_t_imus.set_xlabel('intervel index')
-    ax_imgs_t_imus.set_ylabel('imu count')
-    ax_imgs_t_imus.axis('auto')
-
    ax_imgs_t_diff.set_xlim([0, imgs_t_diff.size])
    ax_imgs_t_diff.plot(imgs_t_diff)

-    ax_imus_t_diff.set_xlim([0, imus_t_diff.size])
-    ax_imus_t_diff.plot(imus_t_diff)
+    def _plot_imus(name, t_diff, counts, pos_offset=0):
+      ax_imus_t_diff = fig_1.add_subplot(232 + pos_offset)
+      ax_imus_t_diff.set_title('{} Timestamp Diff'.format(name))
+      ax_imus_t_diff.set_xlabel('diff index')
+      ax_imus_t_diff.set_ylabel('diff (s)')
+      ax_imus_t_diff.axis('auto')

-    # print(imgs_t_imus.values)
-    # imgs_t_imus.plot(kind='line', ax=ax_imgs_t_imus)
-    data = imgs_t_imus.values
-    ax_imgs_t_imus.set_xlim([0, data.size])
-    ax_imgs_t_imus.set_ylim([np.min(data) - 1, np.max(data) + 1])
-    ax_imgs_t_imus.plot(data)
+      ax_imus_t_diff.set_xlim([0, t_diff.size - 1])
+      ax_imus_t_diff.plot(t_diff)
+
+      ax_imus_counts = fig_1.add_subplot(233 + pos_offset)
+      ax_imus_counts.set_title('{} Count Per Image Intervel'.format(name))
+      ax_imus_counts.set_xlabel('intervel index')
+      ax_imus_counts.set_ylabel('imu count')
+      ax_imus_counts.axis('auto')
+
+      # print(counts.values)
+      # counts.plot(kind='line', ax=ax_imus_counts)
+      data = counts.values
+      ax_imus_counts.set_xlim([0, data.size])
+      ax_imus_counts.set_ylim([np.min(data) - 1, np.max(data) + 1])
+      ax_imus_counts.plot(data)
+
+    _plot_imus('Accel', accel_t_diff, accel_counts)
+    _plot_imus('Gyro', gyro_t_diff, gyro_counts, 3)

    if outdir:
      figpath = os.path.join(outdir, RESULT_FIGURE)
@ -288,14 +307,14 @@ def _parse_args():
      '--rate-img',
      dest='rate_img',
      metavar='RATE',
-      default=25,
+      default=60,
      type=int,
      help='the img rate (default: %(default)s)')
  parser.add_argument(
      '--rate-imu',
      dest='rate_imu',
      metavar='RATE',
-      default=500,
+      default=200,
      type=int,
      help='the imu rate (default: %(default)s)')
  return parser.parse_args()
--- a/tools/dataset/CMakeLists.txt
+++ b/tools/dataset/CMakeLists.txt
@ -20,13 +20,17 @@ set_outdir(
  "${OUT_DIR}/bin/${DIR_NAME}"
 )

+include_directories(
+  ${PRO_DIR}/src
+)
+
 ## 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
--- 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>
@ -68,23 +65,52 @@ void Dataset::SaveStreamData(
    std::stringstream ss;
    ss << writer->outdir << MYNTEYE_OS_SEP << std::dec
       << std::setw(IMAGE_FILENAME_WIDTH) << std::setfill('0') << seq << ".png";
-    cv::Mat img(
-        data.frame->height(), data.frame->width(), CV_8UC1, data.frame->data());
-    cv::imwrite(ss.str(), img);
+    if (data.frame->format() == Format::GREY) {
+      cv::Mat img(
+          data.frame->height(), data.frame->width(), CV_8UC1,
+          data.frame->data());
+      cv::imwrite(ss.str(), img);
+    } else if (data.frame->format() == Format::YUYV) {
+      cv::Mat img(
+          data.frame->height(), data.frame->width(), CV_8UC2,
+          data.frame->data());
+      cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
+      cv::imwrite(ss.str(), img);
+    } else if (data.frame->format() == Format::BGR888) {
+      cv::Mat img(
+          data.frame->height(), data.frame->width(), CV_8UC3,
+          data.frame->data());
+      cv::imwrite(ss.str(), img);
+    } else {
+      cv::Mat img(
+          data.frame->height(), data.frame->width(), CV_8UC1,
+          data.frame->data());
+      cv::imwrite(ss.str(), img);
+    }
  }
  ++stream_counts_[stream];
 }

 void Dataset::SaveMotionData(const device::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;
+  }
+  */
 }

 void Dataset::SaveStreamData(
@ -105,14 +131,24 @@ 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) {
@ -151,13 +187,15 @@ Dataset::writer_t Dataset::GetMotionWriter() {

    files::mkdir(writer->outdir);
    writer->ofs.open(writer->outfile, std::ofstream::out);
-    writer->ofs << "seq, frame_id, timestamp, accel_x, accel_y, accel_z, "
+    writer->ofs << "seq, flag, timestamp, accel_x, accel_y, accel_z, "
                   "gyro_x, gyro_y, gyro_z, temperature"
                << std::endl;
    writer->ofs << FULL_PRECISION;

    motion_writer_ = writer;
    motion_count_ = 0;
+    accel_count_ = 0;
+    gyro_count_ = 0;
  }
  return motion_writer_;
 }
--- a/tools/dataset/dataset.h
+++ b/tools/dataset/dataset.h
@ -58,6 +58,8 @@ class Dataset {

  std::map<Stream, std::size_t> stream_counts_;
  std::size_t motion_count_;
+  std::size_t accel_count_;
+  std::size_t gyro_count_;
 };

 }  // namespace tools
--- a/tools/dataset/record.cc
+++ b/tools/dataset/record.cc
@ -24,25 +24,13 @@ MYNTEYE_USE_NAMESPACE

 int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
-  if (!api)
-    return 1;
-  /*
-  {  // auto-exposure
-    api->SetOptionValue(Option::EXPOSURE_MODE, 0);
-    api->SetOptionValue(Option::MAX_GAIN, 40);  // [0.48]
-    api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 120);  // [0,240]
-    api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 200);  // [0,255]
-  }
-  {  // manual-exposure
-    api->SetOptionValue(Option::EXPOSURE_MODE, 1);
-    api->SetOptionValue(Option::GAIN, 20);  // [0.48]
-    api->SetOptionValue(Option::BRIGHTNESS, 20);  // [0,240]
-    api->SetOptionValue(Option::CONTRAST, 20);  // [0,255]
-  }
-  api->SetOptionValue(Option::IR_CONTROL, 80);
-  api->SetOptionValue(Option::FRAME_RATE, 25);
-  api->SetOptionValue(Option::IMU_FREQUENCY, 500);
-  */
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+
  api->LogOptionInfos();

  // Enable this will cache the motion datas until you get them.
@ -72,14 +60,42 @@ int main(int argc, char *argv[]) {
    auto &&motion_datas = api->GetMotionDatas();
    imu_count += motion_datas.size();

-    auto &&left_img = left_datas.back().frame;
-    auto &&right_img = right_datas.back().frame;
+    auto &&left_frame = left_datas.back().frame;
+    auto &&right_frame = right_datas.back().frame;

    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::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);
      }
--- a/tools/dataset/record2.cc
+++ b/tools/dataset/record2.cc
@ -27,25 +27,13 @@ int main(int argc, char *argv[]) {
  glog_init _(argc, 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);
-  */
+  if (!device) return 1;
+
+  bool ok;
+  auto &&request = device::select_request(device, &ok);
+  if (!ok) return 1;
+  device->ConfigStreamRequest(request);
+
  device->LogOptionInfos();

  // Enable this will cache the motion datas until you get them.
@ -77,17 +65,40 @@ 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::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);
      }
@ -123,4 +134,4 @@ int main(int argc, char *argv[]) {
  LOG(INFO) << "Imu count: " << imu_count
            << ", hz: " << (1000.f * imu_count / elapsed_ms);
  return 0;
-}
+}
--- a/tools/internal/data/init.py
+++ b/tools/internal/data/init.py
@ -81,6 +81,7 @@ class IMU(Data):

  def __init__(self):
    super(IMU, self).__init__()
+    self._flag = 0
    self._accel_x = 0
    self._accel_y = 0
    self._accel_z = 0
@ -88,6 +89,14 @@ class IMU(Data):
    self._gyro_y = 0
    self._gyro_z = 0

+  @property
+  def flag(self):
+    return self._flag
+
+  @flag.setter
+  def flag(self, flag):
+    self._flag = flag
+
  @property
  def accel(self):
    return self._accel_x, self._accel_y, self._accel_z
@ -339,9 +348,9 @@ class MYNTEYE(Dataset):
      if index == -1:
        sys.exit('Error: Dataset is unexpected format, timestamp not found')

-      # unit from 0.01ms to 1s
-      info.timebeg = float(first.split(',')[index].strip()) * 0.00001
-      info.timeend = float(last.split(',')[index].strip()) * 0.00001
+      # unit from 1us to 1s
+      info.timebeg = float(first.split(',')[index].strip()) * 0.000001
+      info.timeend = float(last.split(',')[index].strip()) * 0.000001
      # print('time: [{}, {}]'.format(info.timebeg, info.timeend))

    return info
@ -364,7 +373,7 @@ class MYNTEYE(Dataset):
        for line in f:
          values = [_.strip() for _ in line.split(',')]
          img = Image()
-          img.timestamp = float(values[fields['timestamp']]) * 0.00001
+          img.timestamp = float(values[fields['timestamp']]) * 0.000001
          yield {What.img_left: img}
    if hit_img_right and self._info.has_img_right:
      with open(self._info.img_right_txt) as f:
@ -372,7 +381,7 @@ class MYNTEYE(Dataset):
        for line in f:
          values = [_.strip() for _ in line.split(',')]
          img = Image()
-          img.timestamp = float(values[fields['timestamp']]) * 0.00001
+          img.timestamp = float(values[fields['timestamp']]) * 0.000001
          yield {What.img_right: img}
    if (hit_imu or hit_temp) and self._info.has_imu:
      with open(self._info.imu_txt) as f:
@ -380,7 +389,8 @@ class MYNTEYE(Dataset):
        for line in f:
          values = [_.strip() for _ in line.split(',')]
          imu = IMU()
-          imu.timestamp = float(values[fields['timestamp']]) * 0.00001
+          imu.timestamp = float(values[fields['timestamp']]) * 0.000001
+          imu.flag = values[fields['flag']]
          imu.accel_x = float(values[fields['accel_x']])
          imu.accel_y = float(values[fields['accel_y']])
          imu.accel_z = float(values[fields['accel_z']])
--- a/tools/writer/config/device.info
+++ b/tools/writer/config/device.info
@ -1,10 +1,10 @@
 %YAML:1.0
 ---
-device_name: MYNT-EYE-S1000
+device_name: MYNT-EYE-S210A
 serial_number: "0386322C0009070E"
-firmware_version: "2.2"
-hardware_version: "2.0"
-spec_version: "1.0"
+firmware_version: "1.0"
+hardware_version: "1.0"
+spec_version: "1.1"
 lens_type: "0000"
 imu_type: "0000"
 nominal_baseline: 120
--- a/tools/writer/config/img.params
+++ b/tools/writer/config/img.params
@ -1,32 +1,53 @@
 %YAML:1.0
 ---
-in_left:
+version: "1.1"
+in_left_map:
   -
-      width: 752
-      height: 480
-      fx: 3.6220059643202876e+02
-      fy: 3.6350065250745848e+02
-      cx: 4.0658699068023441e+02
-      cy: 2.3435161110061483e+02
+      width: 640
+      height: 400
+      fx: 1.9739641213416058e+02
+      fy: 1.9772337597617189e+02
+      cx: 3.2611983633916327e+02
+      cy: 1.9986969132833946e+02
      model: 0
-      coeffs: [ -2.5034765682756088e-01, 5.0579399202897619e-02,
-          -7.0536676161976066e-04, -8.5255451307033846e-03, 0. ]
-in_right:
+      coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
+          2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
   -
-      width: 752
-      height: 480
-      fx: 3.6514014888558478e+02
-      fy: 3.6513385298966961e+02
-      cx: 3.8932395100630907e+02
-      cy: 2.3495160212312547e+02
+      width: 1280
+      height: 800
+      fx: 1.9739641213416058e+02
+      fy: 1.9772337597617189e+02
+      cx: 3.2611983633916327e+02
+      cy: 1.9986969132833946e+02
      model: 0
-      coeffs: [ -3.0377346762098512e-01, 7.9929693673999838e-02,
-          5.1547517530716883e-05, -6.7345903740579250e-04, 0. ]
+      coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
+          2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
+in_right_map:
+   -
+      width: 640
+      height: 400
+      fx: 2.0335498653655989e+02
+      fy: 2.0453858622699008e+02
+      cx: 3.1589962248180814e+02
+      cy: 2.1871688038954812e+02
+      model: 0
+      coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
+          3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
+   -
+      width: 1280
+      height: 800
+      fx: 2.0335498653655989e+02
+      fy: 2.0453858622699008e+02
+      cx: 3.1589962248180814e+02
+      cy: 2.1871688038954812e+02
+      model: 0
+      coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
+          3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
 ex_right_to_left:
-   rotation: [ 9.9867908939669447e-01, -6.3445566137485428e-03,
-       5.0988459509619687e-02, 5.9890316389333252e-03,
-       9.9995670037792639e-01, 7.1224201868366971e-03,
-       -5.1031440326695092e-02, -6.8076406092671274e-03,
-       9.9867384471984544e-01 ]
-   translation: [ -1.2002489764113250e+02, -1.1782637409050747e+00,
-       -5.2058205159996538e+00 ]
+   rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
+       -4.3917309443490191e-03, 1.8166060642710027e-03,
+       9.9968925981619028e-01, -2.4861290203142431e-02,
+       4.4382582477776426e-03, 2.4853026274046636e-02,
+       9.9968126367795229e-01 ]
+   translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
+       2.2588034344482368e+00 ]
--- a/tools/writer/device_writer.cc
+++ b/tools/writer/device_writer.cc
@ -13,6 +13,7 @@
 // limitations under the License.
 #include "writer/device_writer.h"

+#include <map>
 #include <vector>

 #include <opencv2/core/core.hpp>
@ -69,9 +70,9 @@ bool DeviceWriter::WriteImgParams(const img_params_t &params) {
          nullptr, const_cast<img_params_t *>(&params), nullptr,
          &dev_info->spec_version)) {
    LOG(INFO) << "Write img params success";
-    LOG(INFO) << "Intrinsics left: {" << params.in_left << "}";
-    LOG(INFO) << "Intrinsics right: {" << params.in_right << "}";
-    LOG(INFO) << "Extrinsics right to left: {" << params.ex_right_to_left
+    // LOG(INFO) << "Intrinsics left: {" << params.in_left << "}";
+    // LOG(INFO) << "Intrinsics right: {" << params.in_right << "}";
+    LOG(INFO) << "Extrinsics left to right: {" << params.ex_right_to_left
              << "}";
    return true;
  } else {
@ -125,6 +126,16 @@ cv::FileStorage &operator<<(
  return fs;
 }

+cv::FileStorage &operator<<(
+    cv::FileStorage &fs, const std::map<Resolution, Intrinsics> &mapIn) {
+  fs << "[";
+  std::map<Resolution, Intrinsics>::const_iterator it;
+  for (it = mapIn.begin(); it != mapIn.end(); it++)
+    fs << (*it).second;
+  fs << "]";
+  return fs;
+}
+
 cv::FileStorage &operator<<(cv::FileStorage &fs, const ImuIntrinsics &in) {
  std::vector<double> scales;
  for (std::size_t i = 0; i < 3; i++) {
@ -176,18 +187,25 @@ bool DeviceWriter::SaveDeviceInfo(
 }

 bool DeviceWriter::SaveImgParams(
-    const img_params_t &params, const std::string &filepath) {
+    const dev_info_t &info, const img_params_t &params,
+    const std::string &filepath) {
  using FileStorage = cv::FileStorage;
  FileStorage fs(filepath, FileStorage::WRITE);
  if (!fs.isOpened()) {
    LOG(ERROR) << "Failed to save file: " << filepath;
    return false;
  }
-  fs << "in_left" << std::vector<Intrinsics>{params.in_left} << "in_right"
-     << std::vector<Intrinsics>{params.in_right} << "ex_right_to_left"
-     << params.ex_right_to_left;
-  fs.release();
-  return true;
+
+  if (params.in_left_map.size() == params.in_right_map.size()) {
+    fs << "version" << info.spec_version.to_string() << "in_left_map"
+       << params.in_left_map << "in_right_map" << params.in_right_map
+       << "ex_right_to_left" << params.ex_right_to_left;
+    fs.release();
+    return true;
+  } else {
+    fs.release();
+    return false;
+  }
 }

 bool DeviceWriter::SaveImuParams(
@ -210,9 +228,7 @@ void DeviceWriter::SaveAllInfos(const std::string &dir) {
  }
  SaveDeviceInfo(*device_->GetInfo(), dir + MYNTEYE_OS_SEP "device.info");
  SaveImgParams(
-      {false, device_->GetIntrinsics(Stream::LEFT),
-       device_->GetIntrinsics(Stream::RIGHT),
-       device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT)},
+      *device_->GetInfo(), device_->GetImgParams(),
      dir + MYNTEYE_OS_SEP "img.params");
  auto &&m_in = device_->GetMotionIntrinsics();
  SaveImuParams(
@ -326,34 +342,51 @@ DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
  }

  img_params_t params;
-  if (fs["in_left"].isNone()) {
-    std::uint16_t w = 752;
-    std::uint16_t h = 480;
-    std::uint8_t m = 0;
-    if (!fs["width"].isNone())
-      w = static_cast<int>(fs["width"]);
-    if (!fs["height"].isNone())
-      h = static_cast<int>(fs["height"]);
-    if (!fs["model"].isNone())
-      m = static_cast<int>(fs["model"]);
+  if (fs["version"].isNone()) {
+    if (fs["in_left"].isNone()) {
+      std::uint16_t w = 752;
+      std::uint16_t h = 480;
+      std::uint8_t m = 0;
+      if (!fs["width"].isNone())
+        w = static_cast<int>(fs["width"]);
+      if (!fs["height"].isNone())
+        h = static_cast<int>(fs["height"]);
+      if (!fs["model"].isNone())
+        m = static_cast<int>(fs["model"]);

-    cv::Mat M1, D1, M2, D2, R, T;
-    fs["M1"] >> M1;
-    fs["D1"] >> D1;
-    fs["M2"] >> M2;
-    fs["D2"] >> D2;
-    fs["R"] >> R;
-    fs["T"] >> T;
+      cv::Mat M1, D1, M2, D2, R, T;
+      fs["M1"] >> M1;
+      fs["D1"] >> D1;
+      fs["M2"] >> M2;
+      fs["D2"] >> D2;
+      fs["R"] >> R;
+      fs["T"] >> T;

-    to_intrinsics(w, h, m, M1, D1, &params.in_left);
-    to_intrinsics(w, h, m, M2, D2, &params.in_right);
-    to_extrinsics(R, T, &params.ex_right_to_left);
+      to_intrinsics(
+          w, h, m, M1, D1, &params.in_left_map[Resolution::RES_752x480]);
+      to_intrinsics(
+          w, h, m, M2, D2, &params.in_right_map[Resolution::RES_752x480]);
+      to_extrinsics(R, T, &params.ex_right_to_left);
+    } else {
+      fs["in_left"][0] >> params.in_left_map[Resolution::RES_752x480];
+      fs["in_right"][0] >> params.in_right_map[Resolution::RES_752x480];
+      fs["ex_right_to_left"] >> params.ex_right_to_left;
+    }
  } else {
-    fs["in_left"][0] >> params.in_left;
-    fs["in_right"][0] >> params.in_right;
-    fs["ex_right_to_left"] >> params.ex_right_to_left;
+    // TODO(Kalman): Is there a more reasonable way?
+    if (static_cast<std::string>(fs["version"]) == "1.0") {
+      fs["in_left_map"][0] >> params.in_left_map[Resolution::RES_752x480];
+      fs["in_right_map"][0] >> params.in_right_map[Resolution::RES_752x480];
+      fs["ex_right_to_left"] >> params.ex_right_to_left;
+    }
+    if (static_cast<std::string>(fs["version"]) == "1.1") {
+      fs["in_left_map"][0] >> params.in_left_map[Resolution::RES_1280x400];
+      fs["in_left_map"][1] >> params.in_left_map[Resolution::RES_2560x800];
+      fs["in_right_map"][0] >> params.in_right_map[Resolution::RES_1280x400];
+      fs["in_right_map"][1] >> params.in_right_map[Resolution::RES_2560x800];
+      fs["ex_right_to_left"] >> params.ex_right_to_left;
+    }
  }
-
  fs.release();
  return params;
 }
--- 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();
@ -47,7 +47,9 @@ class DeviceWriter {
  bool WriteImuParams(const std::string &filepath);

  bool SaveDeviceInfo(const dev_info_t &info, const std::string &filepath);
-  bool SaveImgParams(const img_params_t &params, const std::string &filepath);
+  bool SaveImgParams(
+      const dev_info_t &info, const img_params_t &params,
+      const std::string &filepath);
  bool SaveImuParams(const imu_params_t &params, const std::string &filepath);

  /** Save all infos of this device */
--- a/wrappers/python/src/mynteye_py.cc
+++ b/wrappers/python/src/mynteye_py.cc
@ -104,8 +104,7 @@ struct MYNTEYE_API MotionData {
  ImuData imu;

  bool operator==(const MotionData &other) const {
-    return imu.frame_id == other.imu.frame_id &&
-           imu.timestamp == other.imu.timestamp;
+    return imu.timestamp == other.imu.timestamp;           
  }
 };

@ -364,7 +363,6 @@ BOOST_PYTHON_MODULE(mynteye_py) {
  // bp::register_ptr_to_python<std::shared_ptr<ImgData>>();

  bp::class_<ImuData>("ImuData")
-      .def_readonly("frame_id", &ImuData::frame_id)
      .def_readonly("timestamp", &ImuData::timestamp)
      .add_property(
          "accel", +[](ImuData *o) { return array_ref<double>{o->accel}; })
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
@ -103,6 +103,7 @@ add_compile_options(-std=c++11)

 include_directories(
  ${catkin_INCLUDE_DIRS}
+  ${SDK_DIR}/src
 )

 set(LINK_LIBS
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
@ -13,6 +13,9 @@
  <arg name="depth_topic" default="depth/image_raw" />
  <arg name="points_topic" default="points/data_raw" />

+  <arg name="left_mono_topic" default="left/image_mono" />
+  <arg name="right_mono_topic" default="right/image_mono" />
+
  <arg name="imu_topic" default="imu/data_raw" />
  <arg name="temp_topic" default="temp/data_raw" />

@ -26,13 +29,34 @@
  <arg name="points_frame_id" default="$(arg mynteye)_points_frame" />
  <arg name="depth_frame_id" default="$(arg mynteye)_depth_frame" />

-  <arg name="imu_frame_id" default="$(arg mynteye)_imu_frame" />
  <arg name="temp_frame_id" default="$(arg mynteye)_temp_frame" />

  <arg name="gravity" default="9.8" />

  <!-- stream toggles -->

+  <!-- Request index -->
+
+  <!-- MYNTEYE-S210A, Reslution: 1280x400, Format: BGR888, Fps: 10 -->
+  <arg name="index_s210a_0"   default="0" />
+  <!-- MYNTEYE-S210A, Reslution: 1280x400, Format: BGR888, Fps: 20 -->
+  <arg name="index_s210a_1"   default="1" />
+  <!-- MYNTEYE-S210A, Reslution: 1280x400, Format: BGR888, Fps: 30 -->
+  <arg name="index_s210a_2"   default="2" />
+  <!-- MYNTEYE-S210A, Reslution: 1280x400, Format: BGR888, Fps: 60 -->
+  <arg name="index_s210a_3"   default="3" />
+  <!-- MYNTEYE-S210A, Reslution: 2560x800, Format: BGR888, Fps: 10 -->
+  <arg name="index_s210a_4"   default="4" />
+  <!-- MYNTEYE-S210A, Reslution: 2560x800, Format: BGR888, Fps: 20 -->
+  <arg name="index_s210a_5"   default="5" />
+  <!-- MYNTEYE-S210A, Reslution: 2560x800, Format: BGR888, Fps: 30 -->
+  <arg name="index_s210a_6"   default="6" />
+
+  <!-- MYNTEYE-S1030, Reslution: 752x480, Format: YUYV, Fps: 25 -->
+  <arg name="index_s1030_0"   default="0" />
+
+  <arg name="request_index" default="$(arg index_s210a_2)" />
+
  <arg name="enable_left_rect" default="false" />
  <arg name="enable_right_rect" default="false" />
  <arg name="enable_disparity" default="false" />
@ -42,58 +66,46 @@

  <!-- device options, -1 will not set the value -->

-  <!-- gain range: [0,48] -->
-  <arg name="gain" default="-1" />
-  <!-- <arg name="gain" default="24" /> -->
-
  <!-- brightness range: [0,240] -->
  <arg name="brightness" default="-1" />
  <!-- <arg name="brightness" default="120" /> -->

-  <!-- contrast range: [0,255] -->
-  <arg name="contrast" default="-1" />
-  <!-- <arg name="contrast" default="127" /> -->
-
-  <!-- frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
-  <arg name="frame_rate" default="-1" />
-  <!-- <arg name="frame_rate" default="25" /> -->
-
-  <!-- imu_frequency range: {100,200,250,333,500} -->
-  <arg name="imu_frequency" default="-1" />
-  <!-- <arg name="imu_frequency" default="200" /> -->
-
  <!-- exposure_mode, 0: auto-exposure, 1: manual-exposure -->
  <arg name="exposure_mode" default="-1" />
  <!-- <arg name="exposure_mode" default="0" /> -->

-  <!-- max_gain range: [0,48] -->
+  <!-- max_gain range: [0,255] -->
  <arg name="max_gain" default="-1" />
-  <!-- <arg name="max_gain" default="48" /> -->
+  <!-- <arg name="max_gain" default="8" /> -->

-  <!-- max_exposure_time range: [0,240] -->
+  <!-- max_exposure_time range: [0,1000] -->
  <arg name="max_exposure_time" default="-1" />
-  <!-- <arg name="max_exposure_time" default="240" /> -->
+  <!-- <arg name="max_exposure_time" default="333" /> -->

-  <!-- desired_brightness range: [0,255] -->
+  <!-- desired_brightness range: [1,255] -->
  <arg name="desired_brightness" default="-1" />
-  <!-- <arg name="desired_brightness" default="192" /> -->
+  <!-- <arg name="desired_brightness" default="122" /> -->

-  <!-- ir_control range: [0,160] -->
-  <arg name="ir_control" default="80" />
-  <!-- <arg name="ir_control" default="0" /> -->
+  <!-- min_exposure_time range: [0,1000] -->
+  <arg name="min_exposure_time" default="-1" />
+  <!-- <arg name="min_exposure_time" default="0" /> -->

-  <!-- hdr_mode, 0: 10-bit, 1: 12-bit -->
-  <arg name="hdr_mode" default="-1" />
-  <!-- <arg name="hdr_mode" default="0" /> -->
-
-  <!-- accel_range range: {4,8,16,32} -->
+  <!-- accel_range range: [6,48] -->
  <arg name="accel_range" default="-1" />
-  <!-- <arg name="accel_range" default="8" /> -->
+  <!-- <arg name="accel_range" default="6" /> -->

-  <!-- gyro_range range: {500,1000,2000,4000} -->
+  <!-- gyro_range range: [250,4000] -->
  <arg name="gyro_range" default="-1" />
  <!-- <arg name="gyro_range" default="1000" /> -->

+  <!-- accel_low_filter range: [0,2] -->
+  <arg name="accel_low_filter" default="-1" />
+  <!-- <arg name="accel_low_filter" default="2" /> -->
+
+  <!-- gyro_low_filter range: [23,64] -->
+  <arg name="gyro_low_filter" default="-1" />
+  <!-- <arg name="gyro_low_filter" default="64" /> -->
+
  <!-- Push down all topics/nodelets into "mynteye" namespace -->
  <group ns="$(arg mynteye)">

@ -111,6 +123,9 @@
      <param name="points_topic" value="$(arg points_topic)" />
      <param name="depth_topic" value="$(arg depth_topic)" />

+      <param name="left_mono_topic" value="$(arg left_mono_topic)" />
+      <param name="right_mono_topic" value="$(arg right_mono_topic)" />
+
      <param name="imu_topic" value="$(arg imu_topic)" />
      <param name="temp_topic" value="$(arg temp_topic)" />

@ -124,7 +139,6 @@
      <param name="points_frame_id" value="$(arg points_frame_id)" />
      <param name="depth_frame_id" value="$(arg depth_frame_id)" />

-      <param name="imu_frame_id" value="$(arg imu_frame_id)" />
      <param name="temp_frame_id" value="$(arg temp_frame_id)" />

      <param name="gravity" value="$(arg gravity)" />
@ -138,22 +152,21 @@
      <param name="enable_points" value="$(arg enable_points)" />
      <param name="enable_depth" value="$(arg enable_depth)" />

+      <!-- stream request index -->
+      <param name="request_index" value="$(arg request_index)" />
+
      <!-- device options -->

-      <param name="gain" value="$(arg gain)" />
      <param name="brightness" value="$(arg brightness)" />
-      <param name="contrast" value="$(arg contrast)" />
-      <param name="frame_rate" value="$(arg frame_rate)" />
-      <param name="imu_frequency" value="$(arg imu_frequency)" />
      <param name="exposure_mode" value="$(arg exposure_mode)" />
      <param name="max_gain" value="$(arg max_gain)" />
      <param name="max_exposure_time" value="$(arg max_exposure_time)" />
      <param name="desired_brightness" value="$(arg desired_brightness)" />
-      <param name="ir_control" value="$(arg ir_control)" />
-      <param name="hdr_mode" value="$(arg hdr_mode)" />
+      <param name="min_exposure_time" value="$(arg max_exposure_time)" />
      <param name="accel_range" value="$(arg accel_range)" />
      <param name="gyro_range" value="$(arg gyro_range)" />
-
+      <param name="accel_low_filter" value="$(arg accel_low_filter)" />
+      <param name="gyro_low_filter" value="$(arg gyro_low_filter)" />
    </node>

    <!-- disable compressed depth plugin for image topics -->
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
@ -7,6 +7,7 @@ Panels:
        - /Global Options1
        - /Status1
        - /Images1
+        - /Images1/Gray1
        - /Images1/Rectified1
        - /Disparity1
      Splitter Ratio: 0.5
@ -77,6 +78,34 @@ Visualization Manager:
          Transport Hint: raw
          Unreliable: false
          Value: true
+        - Class: rviz/Group
+          Displays:
+            - Class: rviz/Image
+              Enabled: true
+              Image Topic: /mynteye/left/image_mono
+              Max Value: 1
+              Median window: 5
+              Min Value: 0
+              Name: LeftMono
+              Normalize Range: true
+              Queue Size: 2
+              Transport Hint: raw
+              Unreliable: false
+              Value: true
+            - Class: rviz/Image
+              Enabled: true
+              Image Topic: /mynteye/right/image_mono
+              Max Value: 1
+              Median window: 5
+              Min Value: 0
+              Name: RightMono
+              Normalize Range: true
+              Queue Size: 2
+              Transport Hint: raw
+              Unreliable: false
+              Value: true
+          Enabled: true
+          Name: Mono
        - Class: rviz/Group
          Displays:
            - Class: rviz/Image
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@ -71,8 +71,15 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
                  << (right_count_ / compute_time(time_end, right_time_beg_));
      }
      if (imu_time_beg_ != -1) {
-        LOG(INFO) << "Imu count: " << imu_count_ << ", hz: "
-                  << (imu_count_ / compute_time(time_end, imu_time_beg_));
+        if (publish_imu_by_sync_) {
+          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_ /
+                    compute_time(time_end, imu_time_beg_));
+        }
      }

      // ROS messages could not be reliably printed here, using glog instead :(
@ -92,15 +99,17 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
    }

    return ros::Time(
-        soft_time_begin + (_hard_time - hard_time_begin) * 0.00001f);
+        soft_time_begin + (_hard_time - hard_time_begin) * 0.000001f);
  }

  void onInit() override {
-    initDevice();
-    NODELET_FATAL_COND(api_ == nullptr, "No MYNT EYE device selected :(");
-
    nh_ = getMTNodeHandle();
    private_nh_ = getMTPrivateNodeHandle();
+    int request_index = 0;
+    private_nh_.getParam("request_index", request_index);
+
+    initDevice(request_index);
+    NODELET_FATAL_COND(api_ == nullptr, "No MYNT EYE device selected :(");

    // node params

@ -125,6 +134,15 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
    is_motion_published_ = false;
    is_started_ = false;

+    std::map<Stream, std::string> mono_names{{Stream::LEFT, "left_mono"},
+                                             {Stream::RIGHT, "right_mono"}};
+
+    std::map<Stream, std::string> mono_topics{};
+    for (auto &&it = mono_names.begin(); it != mono_names.end(); ++it) {
+      mono_topics[it->first] = it->second;
+      private_nh_.getParam(it->second + "_topic", mono_topics[it->first]);
+    }
+
    std::string imu_topic = "imu";
    std::string temp_topic = "temp";
    private_nh_.getParam("imu_topic", imu_topic);
@ -149,20 +167,16 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
    // device options

    std::map<Option, std::string> option_names = {
-        {Option::GAIN, "gain"},
        {Option::BRIGHTNESS, "brightness"},
-        {Option::CONTRAST, "contrast"},
-        {Option::FRAME_RATE, "frame_rate"},
-        {Option::IMU_FREQUENCY, "imu_frequency"},
        {Option::EXPOSURE_MODE, "exposure_mode"},
        {Option::MAX_GAIN, "max_gain"},
        {Option::MAX_EXPOSURE_TIME, "max_exposure_time"},
        {Option::DESIRED_BRIGHTNESS, "desired_brightness"},
-        {Option::IR_CONTROL, "ir_control"},
-        {Option::HDR_MODE, "hdr_mode"},
+        {Option::MIN_EXPOSURE_TIME, "min_exposure_time"},
        {Option::ACCELEROMETER_RANGE, "accel_range"},
-        {Option::GYROSCOPE_RANGE, "gyro_range"}
-    };
+        {Option::GYROSCOPE_RANGE, "gyro_range"},
+        {Option::ACCELEROMETER_LOW_PASS_FILTER, "accel_low_filter"},
+        {Option::GYROSCOPE_LOW_PASS_FILTER, "gyro_low_filter"}};
    for (auto &&it = option_names.begin(); it != option_names.end(); ++it) {
      if (!api_->Supports(it->first))
        continue;
@ -174,7 +188,6 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
      }
      NODELET_INFO_STREAM(it->first << ": " << api_->GetOptionValue(it->first));
    }
-    frame_rate_ = api_->GetOptionValue(Option::FRAME_RATE);

    // publishers

@ -190,10 +203,18 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
      NODELET_INFO_STREAM("Advertized on topic " << topic);
    }

-    camera_encodings_ = {{Stream::LEFT, enc::MONO8},
-                         {Stream::RIGHT, enc::MONO8},
-                         {Stream::LEFT_RECTIFIED, enc::MONO8},
-                         {Stream::RIGHT_RECTIFIED, enc::MONO8},
+    for (auto &&it = mono_topics.begin(); it != mono_topics.end(); ++it) {
+      auto &&topic = mono_topics[it->first];
+      if (it->first == Stream::LEFT || it->first == Stream::RIGHT) {  // camera
+        mono_publishers_[it->first] = it_mynteye.advertiseCamera(topic, 1);
+      }
+      NODELET_INFO_STREAM("Advertized on topic " << topic);
+    }
+
+    camera_encodings_ = {{Stream::LEFT, enc::BGR8},
+                         {Stream::RIGHT, enc::BGR8},
+                         {Stream::LEFT_RECTIFIED, enc::BGR8},
+                         {Stream::RIGHT_RECTIFIED, enc::BGR8},
                         {Stream::DISPARITY, enc::MONO8},  // float
                         {Stream::DISPARITY_NORMALIZED, enc::MONO8},
                         {Stream::DEPTH, enc::MONO16}};
@ -229,7 +250,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
    NODELET_INFO_STREAM("Advertized service " << DEVICE_INFO_SERVICE);

    publishStaticTransforms();
-    ros::Rate loop_rate(frame_rate_);
+    ros::Rate loop_rate(60);
    while (private_nh_.ok()) {
      publishTopics();
      loop_rate.sleep();
@ -352,7 +373,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
  }

  void publishTopics() {
-    if (camera_publishers_[Stream::LEFT].getNumSubscribers() > 0 &&
+    if ((camera_publishers_[Stream::LEFT].getNumSubscribers() > 0 ||
+        mono_publishers_[Stream::LEFT].getNumSubscribers() > 0) &&
        !is_published_[Stream::LEFT]) {
      api_->SetStreamCallback(
          Stream::LEFT, [this](const api::StreamData &data) {
@ -371,6 +393,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {

            ++left_count_;
            publishCamera(Stream::LEFT, data, left_count_, stamp);
+            publishMono(Stream::LEFT, data, left_count_, stamp);
            NODELET_DEBUG_STREAM(
                Stream::LEFT << ", count: " << left_count_
                             << ", frame_id: " << data.img->frame_id
@ -381,7 +404,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
      is_published_[Stream::LEFT] = true;
    }

-    if (camera_publishers_[Stream::RIGHT].getNumSubscribers() > 0 &&
+    if ((camera_publishers_[Stream::RIGHT].getNumSubscribers() > 0 ||
+        mono_publishers_[Stream::RIGHT].getNumSubscribers() > 0) &&
        !is_published_[Stream::RIGHT]) {
      api_->SetStreamCallback(
          Stream::RIGHT, [this](const api::StreamData &data) {
@ -389,6 +413,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {

            ++right_count_;
            publishCamera(Stream::RIGHT, data, right_count_, stamp);
+            publishMono(Stream::RIGHT, data, right_count_, stamp);
            NODELET_DEBUG_STREAM(
                Stream::RIGHT
                << ", count: " << right_count_ << ", frame_id: "
@ -414,33 +439,47 @@ class ROSWrapperNodelet : public nodelet::Nodelet {

    if (!is_motion_published_) {
      api_->SetMotionCallback([this](const api::MotionData &data) {
-        ros::Time stamp = hardTimeToSoftTime(data.imu->timestamp);
+      ros::Time stamp = hardTimeToSoftTime(data.imu->timestamp);

-        // static double imu_time_prev = -1;
-        // NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION <<
-        // ros_time_beg
-        //     << ", imu_time_elapsed: " << FULL_PRECISION
-        //     << ((data.imu->timestamp - imu_time_beg) * 0.00001f)
-        //     << ", imu_time_diff: " << FULL_PRECISION
-        //     << ((imu_time_prev < 0) ? 0
-        //         : (data.imu->timestamp - imu_time_prev) * 0.01f) << " ms");
-        // imu_time_prev = data.imu->timestamp;
+      // static double imu_time_prev = -1;
+      // NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION << ros_time_beg
+      //     << ", imu_time_elapsed: " << FULL_PRECISION
+      //     << ((data.imu->timestamp - imu_time_beg) * 0.00001f)
+      //     << ", imu_time_diff: " << FULL_PRECISION
+      //     << ((imu_time_prev < 0) ? 0
+      //         : (data.imu->timestamp - imu_time_prev) * 0.01f) << " ms");
+      // imu_time_prev = data.imu->timestamp;

-        ++imu_count_;
+      ++imu_count_;
+      if (publish_imu_by_sync_) {
+        if (data.imu) {
+          if (data.imu->flag == 1) {  // accelerometer
+            imu_accel_ = data.imu;
+            publishImuBySync(stamp);
+          } else if (data.imu->flag == 2) {  // gyroscope
+            imu_gyro_ = data.imu;
+            publishImuBySync(stamp);
+          } else {
+            NODELET_WARN_STREAM("Imu type is unknown");
+          }
+        } else {
+          NODELET_WARN_STREAM("Motion data is empty");
+        }
+      } else {
        publishImu(data, imu_count_, stamp);
        publishTemp(data.imu->temperature, imu_count_, stamp);
-        NODELET_DEBUG_STREAM(
-            "Imu count: " << imu_count_ << ", frame_id: " << data.imu->frame_id
-                          << ", timestamp: " << data.imu->timestamp
-                          << ", accel_x: " << data.imu->accel[0]
-                          << ", accel_y: " << data.imu->accel[1]
-                          << ", accel_z: " << data.imu->accel[2]
-                          << ", gyro_x: " << data.imu->gyro[0]
-                          << ", gyro_y: " << data.imu->gyro[1]
-                          << ", gyro_z: " << data.imu->gyro[2]
-                          << ", temperature: " << data.imu->temperature);
-        // Sleep 1ms, otherwise publish may drop some datas.
-        ros::Duration(0.001).sleep();
+      }
+      NODELET_DEBUG_STREAM(
+          "Imu count: " << imu_count_ << ", timestamp: " << data.imu->timestamp
+                        << ", accel_x: " << data.imu->accel[0]
+                        << ", accel_y: " << data.imu->accel[1]
+                        << ", accel_z: " << data.imu->accel[2]
+                        << ", gyro_x: " << data.imu->gyro[0]
+                        << ", gyro_y: " << data.imu->gyro[1]
+                        << ", gyro_z: " << data.imu->gyro[2]
+                        << ", temperature: " << data.imu->temperature);
+      // Sleep 1ms, otherwise publish may drop some datas.
+      ros::Duration(0.001).sleep();
      });
      imu_time_beg_ = ros::Time::now().toSec();
      is_motion_published_ = true;
@ -493,6 +532,23 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
  }
  */

+  void publishMono(
+      const Stream &stream, const api::StreamData &data, std::uint32_t seq,
+      ros::Time stamp) {
+    if (mono_publishers_[stream].getNumSubscribers() == 0)
+      return;
+    std_msgs::Header header;
+    header.seq = seq;
+    header.stamp = stamp;
+    header.frame_id = frame_ids_[stream];
+    cv::Mat mono;
+    cv::cvtColor(data.frame, mono, CV_RGB2GRAY);
+    auto &&msg = cv_bridge::CvImage(header, enc::MONO8, mono).toImageMsg();
+    auto &&info = getCameraInfo(stream);
+    info->header.stamp = msg->header.stamp;
+    mono_publishers_[stream].publish(msg, info);
+  }
+
  void publishPoints(
      const api::StreamData &data, std::uint32_t seq, ros::Time stamp) {
    // if (points_publisher_.getNumSubscribers() == 0)
@ -598,6 +654,59 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
    pub_imu_.publish(msg);
  }

+  void publishImuBySync(ros::Time stamp) {
+    if (imu_accel_ == nullptr || imu_gyro_ == nullptr) {
+      return;
+    }
+    sensor_msgs::Imu msg;
+
+    msg.header.seq = imu_sync_count_;
+    msg.header.stamp = stamp;
+    msg.header.frame_id = imu_frame_id_;
+
+    // acceleration should be in m/s^2 (not in g's)
+    msg.linear_acceleration.x = imu_accel_->accel[0] * gravity_;
+    msg.linear_acceleration.y = imu_accel_->accel[1] * gravity_;
+    msg.linear_acceleration.z = imu_accel_->accel[2] * gravity_;
+
+    msg.linear_acceleration_covariance[0] = 0;
+    msg.linear_acceleration_covariance[1] = 0;
+    msg.linear_acceleration_covariance[2] = 0;
+
+    msg.linear_acceleration_covariance[3] = 0;
+    msg.linear_acceleration_covariance[4] = 0;
+    msg.linear_acceleration_covariance[5] = 0;
+
+    msg.linear_acceleration_covariance[6] = 0;
+    msg.linear_acceleration_covariance[7] = 0;
+    msg.linear_acceleration_covariance[8] = 0;
+
+    // velocity should be in rad/sec
+    msg.angular_velocity.x = imu_gyro_->gyro[0] * M_PI / 180;
+    msg.angular_velocity.y = imu_gyro_->gyro[1] * M_PI / 180;
+    msg.angular_velocity.z = imu_gyro_->gyro[2] * M_PI / 180;
+
+    msg.angular_velocity_covariance[0] = 0;
+    msg.angular_velocity_covariance[1] = 0;
+    msg.angular_velocity_covariance[2] = 0;
+
+    msg.angular_velocity_covariance[3] = 0;
+    msg.angular_velocity_covariance[4] = 0;
+    msg.angular_velocity_covariance[5] = 0;
+
+    msg.angular_velocity_covariance[6] = 0;
+    msg.angular_velocity_covariance[7] = 0;
+    msg.angular_velocity_covariance[8] = 0;
+
+    pub_imu_.publish(msg);
+
+    publishTemp(imu_accel_->temperature, imu_sync_count_, stamp);
+
+    ++imu_sync_count_;
+    imu_accel_ = nullptr;
+    imu_gyro_ = nullptr;
+  }
+
  void publishTemp(float temperature, std::uint32_t seq, ros::Time stamp) {
    if (pub_temp_.getNumSubscribers() == 0)
      return;
@ -610,7 +719,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
  }

 private:
-  void initDevice() {
+  void initDevice(int request_index) {
    NODELET_INFO_STREAM("Detecting MYNT EYE devices");

    Context context;
@ -646,6 +755,22 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
    }

    api_ = API::Create(device);
+    auto &&requests = device->GetStreamRequests();
+    std::size_t m = requests.size();
+
+    NODELET_FATAL_COND(m <= 0, "No MYNT EYE devices :(");
+    if (m <= 1) {
+      NODELET_INFO_STREAM("Only one stream request, select index: 0");
+      api_->ConfigStreamRequest(requests[0]);
+    } else {
+      if (request_index >= m) {
+        NODELET_WARN_STREAM("Resquest_index out of range");
+        api_->ConfigStreamRequest(requests[0]);
+      } else {
+        NODELET_WARN_STREAM("request_index: " << request_index);
+        api_->ConfigStreamRequest(requests[request_index]);
+      }
+    }

    computeRectTransforms();
  }
@ -657,7 +782,6 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
    auto &&ex_right_to_left = api_->GetExtrinsics(Stream::RIGHT, Stream::LEFT);

    cv::Size size{in_left.width, in_left.height};
-
    cv::Mat M1 =
        (cv::Mat_<double>(3, 3) << in_left.fx, 0, in_left.cx, 0, in_left.fy,
         in_left.cy, 0, 0, 1);
@ -910,6 +1034,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
  std::map<Stream, sensor_msgs::CameraInfoPtr> camera_info_ptrs_;
  std::map<Stream, std::string> camera_encodings_;

+  // image: LEFT_RECTIFIED, RIGHT_RECTIFIED, DISPARITY, DISPARITY_NORMALIZED,
+  // DEPTH
+  std::map<Stream, image_transport::Publisher> image_publishers_;
+  std::map<Stream, std::string> image_encodings_;
+
+  // mono: LEFT, RIGHT
+  std::map<Stream, image_transport::CameraPublisher> mono_publishers_;
+
  // pointcloud: POINTS
  ros::Publisher points_publisher_;

@ -944,7 +1076,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
  std::size_t left_count_ = 0;
  std::size_t right_count_ = 0;
  std::size_t imu_count_ = 0;
-
+  std::size_t imu_sync_count_ = 0;
+  std::shared_ptr<ImuData> imu_accel_;
+  std::shared_ptr<ImuData> imu_gyro_;
+  bool publish_imu_by_sync_ = false;
  std::map<Stream, bool> is_published_;
  bool is_motion_published_;
  bool is_started_;