diff --git a/src/mynteye/api/processor/rectify_processor.cc b/src/mynteye/api/processor/rectify_processor.cc
index 731935f..cf34e73 100644
--- a/src/mynteye/api/processor/rectify_processor.cc
+++ b/src/mynteye/api/processor/rectify_processor.cc
@@ -381,11 +381,11 @@ RectifyProcessor::RectifyProcessor(
       std::int32_t proc_period)
     : Processor(std::move(proc_period)),
       calib_model(CalibrationModel::UNKNOW) {
-  intr_left_ = intr_left;
-  intr_right_ = intr_right;
-  extr_ = extr;
   VLOG(2) << __func__ << ": proc_period=" << proc_period;
-  NotifyImageParamsChanged();
+  InitParams(
+    *std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_left),
+    *std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_right),
+    *extr);
 }
 
 RectifyProcessor::~RectifyProcessor() {
@@ -396,11 +396,14 @@ std::string RectifyProcessor::Name() {
   return NAME;
 }
 
-void RectifyProcessor::NotifyImageParamsChanged() {
+void RectifyProcessor::ReloadImageParams(
+      std::shared_ptr<IntrinsicsBase> intr_left,
+      std::shared_ptr<IntrinsicsBase> intr_right,
+      std::shared_ptr<Extrinsics> extr) {
   InitParams(
-    *std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_left_),
-    *std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_right_),
-    *extr_);
+    *std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_left),
+    *std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_right),
+    *extr);
 }
 
 Object *RectifyProcessor::OnCreateOutput() {
diff --git a/src/mynteye/api/processor/rectify_processor.h b/src/mynteye/api/processor/rectify_processor.h
index 046b186..9721a38 100644
--- a/src/mynteye/api/processor/rectify_processor.h
+++ b/src/mynteye/api/processor/rectify_processor.h
@@ -71,7 +71,10 @@ class RectifyProcessor : public Processor {
 
   std::string Name() override;
 
-  void NotifyImageParamsChanged();
+  void ReloadImageParams(
+      std::shared_ptr<IntrinsicsBase> intr_left,
+      std::shared_ptr<IntrinsicsBase> intr_right,
+      std::shared_ptr<Extrinsics> extr);
 
   cv::Mat R1, P1, R2, P2, Q;
   cv::Mat map11, map12, map21, map22;
@@ -117,9 +120,6 @@ class RectifyProcessor : public Processor {
   camodocal::CameraPtr generateCameraFromIntrinsicsEquidistant(
       const mynteye::IntrinsicsEquidistant & in);
 
-  std::shared_ptr<IntrinsicsBase> intr_left_;
-  std::shared_ptr<IntrinsicsBase> intr_right_;
-  std::shared_ptr<Extrinsics> extr_;
   CalibrationModel calib_model;
   std::shared_ptr<struct camera_calib_info_pair> calib_infos;
 };
diff --git a/src/mynteye/api/processor/rectify_processor_ocv.cc b/src/mynteye/api/processor/rectify_processor_ocv.cc
index f662cd7..5decbb1 100644
--- a/src/mynteye/api/processor/rectify_processor_ocv.cc
+++ b/src/mynteye/api/processor/rectify_processor_ocv.cc
@@ -32,10 +32,10 @@ RectifyProcessorOCV::RectifyProcessorOCV(
     : Processor(std::move(proc_period)),
       calib_model(CalibrationModel::UNKNOW) {
   VLOG(2) << __func__ << ": proc_period=" << proc_period;
-  intr_left_ = intr_left;
-  intr_right_ = intr_right;
-  extr_ = extr;
-  NotifyImageParamsChanged();
+  InitParams(
+    *std::dynamic_pointer_cast<IntrinsicsPinhole>(intr_left),
+    *std::dynamic_pointer_cast<IntrinsicsPinhole>(intr_right),
+    *extr);
 }
 
 RectifyProcessorOCV::~RectifyProcessorOCV() {
@@ -46,11 +46,14 @@ std::string RectifyProcessorOCV::Name() {
   return NAME;
 }
 
-void RectifyProcessorOCV::NotifyImageParamsChanged() {
+void RectifyProcessorOCV::ReloadImageParams(
+      std::shared_ptr<IntrinsicsBase> intr_left,
+      std::shared_ptr<IntrinsicsBase> intr_right,
+      std::shared_ptr<Extrinsics> extr) {
   InitParams(
-    *std::dynamic_pointer_cast<IntrinsicsPinhole>(intr_left_),
-    *std::dynamic_pointer_cast<IntrinsicsPinhole>(intr_right_),
-    *extr_);
+    *std::dynamic_pointer_cast<IntrinsicsPinhole>(intr_left),
+    *std::dynamic_pointer_cast<IntrinsicsPinhole>(intr_right),
+    *extr);
 }
 
 Object *RectifyProcessorOCV::OnCreateOutput() {
diff --git a/src/mynteye/api/processor/rectify_processor_ocv.h b/src/mynteye/api/processor/rectify_processor_ocv.h
index f9ea949..e67c4ae 100644
--- a/src/mynteye/api/processor/rectify_processor_ocv.h
+++ b/src/mynteye/api/processor/rectify_processor_ocv.h
@@ -40,7 +40,10 @@ class RectifyProcessorOCV : public Processor {
 
   std::string Name() override;
 
-  void NotifyImageParamsChanged();
+  void ReloadImageParams(
+      std::shared_ptr<IntrinsicsBase> intr_left,
+      std::shared_ptr<IntrinsicsBase> intr_right,
+      std::shared_ptr<Extrinsics> extr);
 
   cv::Mat R1, P1, R2, P2, Q;
   cv::Mat map11, map12, map21, map22;
@@ -54,10 +57,6 @@ class RectifyProcessorOCV : public Processor {
   void InitParams(IntrinsicsPinhole in_left,
         IntrinsicsPinhole in_right, Extrinsics ex_right_to_left);
 
-  std::shared_ptr<IntrinsicsBase> intr_left_;
-  std::shared_ptr<IntrinsicsBase> intr_right_;
-  std::shared_ptr<Extrinsics> extr_;
-
   CalibrationModel calib_model;
 };
 
diff --git a/src/mynteye/api/synthetic.cc b/src/mynteye/api/synthetic.cc
index 4265a76..ef5c14d 100644
--- a/src/mynteye/api/synthetic.cc
+++ b/src/mynteye/api/synthetic.cc
@@ -111,19 +111,23 @@ Synthetic::~Synthetic() {
 }
 
 void Synthetic::NotifyImageParamsChanged() {
+    intr_left_ = api_->GetIntrinsicsBase(Stream::LEFT);
+    intr_right_ = api_->GetIntrinsicsBase(Stream::RIGHT);
+    extr_ =  std::make_shared<Extrinsics>(
+        api_->GetExtrinsics(Stream::LEFT, Stream::RIGHT));
   if (calib_model_ ==  CalibrationModel::PINHOLE) {
     auto &&processor = find_processor<RectifyProcessorOCV>(processor_);
-    if (processor) processor->NotifyImageParamsChanged();
+    if (processor) processor->ReloadImageParams(intr_left_, intr_right_, extr_);
 #ifdef WITH_CAM_MODELS
   } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
     auto &&processor = find_processor<RectifyProcessor>(processor_);
-    if (processor) processor->NotifyImageParamsChanged();
+    if (processor) processor->ReloadImageParams(intr_left_, intr_right_, extr_);
 #endif
   } else {
     LOG(ERROR) << "Unknow calib model type in device: "
               << calib_model_ << ", use default pinhole model";
     auto &&processor = find_processor<RectifyProcessorOCV>(processor_);
-    if (processor) processor->NotifyImageParamsChanged();
+    if (processor) processor->ReloadImageParams(intr_left_, intr_right_, extr_);
   }
 }