diff --git a/Jenkinsfile b/Jenkinsfile
index 09805e7..619ee8e 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -1,7 +1,7 @@
 pipeline {
   agent {
-    // docker { image 'ros:kinetic-ros-core-xenial' }
-    docker { image 'ros:kinetic-ros-base-xenial' }
+    // docker { image 'ros:kinetic-ros-base-xenial' }
+    docker { image 'joinaero/kinetic-ros-opencv-xenial' }
   }
 
   /*
@@ -16,10 +16,7 @@ pipeline {
       steps {
         echo "WORKSPACE: ${env.WORKSPACE}"
         echo 'apt-get ..'
-        sh '''
-        apt-get update
-        apt-get install -y ros-kinetic-opencv3
-        '''
+        sh 'apt-get update'
       }
     }
     stage('Init') {
@@ -91,7 +88,7 @@ pipeline {
     }
     failure {
       echo 'This will run only if failed'
-      mail to: 'mynteye@slightech.com',
+      mail to: 'mynteye-ci@slightech.com',
       subject: "Failed Pipeline: ${currentBuild.fullDisplayName}",
       body: "Something is wrong with ${env.BUILD_URL}"
     }
diff --git a/tools/dataset/CMakeLists.txt b/tools/dataset/CMakeLists.txt
index 33d8809..6948cc9 100644
--- a/tools/dataset/CMakeLists.txt
+++ b/tools/dataset/CMakeLists.txt
@@ -27,3 +27,9 @@ make_executable(record
   LINK_LIBS mynteye ${OpenCV_LIBS}
   DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
 )
+
+make_executable(record2
+  SRCS record2.cc dataset.cc
+  LINK_LIBS mynteye ${OpenCV_LIBS}
+  DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
+)
diff --git a/tools/dataset/dataset.cc b/tools/dataset/dataset.cc
index 390e1a3..628ae14 100644
--- a/tools/dataset/dataset.cc
+++ b/tools/dataset/dataset.cc
@@ -87,6 +87,34 @@ void Dataset::SaveMotionData(const device::MotionData &data) {
   ++motion_count_;
 }
 
+void Dataset::SaveStreamData(
+    const Stream &stream, const api::StreamData &data) {
+  auto &&writer = GetStreamWriter(stream);
+  auto seq = stream_counts_[stream];
+  writer->ofs << seq << ", " << data.img->frame_id << ", "
+              << data.img->timestamp << ", " << data.img->exposure_time
+              << std::endl;
+  if (!data.frame.empty()) {
+    std::stringstream ss;
+    ss << writer->outdir << MYNTEYE_OS_SEP << std::dec
+       << std::setw(IMAGE_FILENAME_WIDTH) << std::setfill('0') << seq << ".png";
+    cv::imwrite(ss.str(), data.frame);
+  }
+  ++stream_counts_[stream];
+}
+
+void Dataset::SaveMotionData(const api::MotionData &data) {
+  auto &&writer = GetMotionWriter();
+  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_;
+}
+
 Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) {
   try {
     return stream_writers_.at(stream);
diff --git a/tools/dataset/dataset.h b/tools/dataset/dataset.h
index 03edfa1..4e37740 100644
--- a/tools/dataset/dataset.h
+++ b/tools/dataset/dataset.h
@@ -21,6 +21,7 @@
 #include <string>
 
 #include "mynteye/mynteye.h"
+#include "mynteye/api/api.h"
 #include "mynteye/device/callbacks.h"
 
 MYNTEYE_BEGIN_NAMESPACE
@@ -43,6 +44,9 @@ class Dataset {
   void SaveStreamData(const Stream &stream, const device::StreamData &data);
   void SaveMotionData(const device::MotionData &data);
 
+  void SaveStreamData(const Stream &stream, const api::StreamData &data);
+  void SaveMotionData(const api::MotionData &data);
+
  private:
   writer_t GetStreamWriter(const Stream &stream);
   writer_t GetMotionWriter();
diff --git a/tools/dataset/record.cc b/tools/dataset/record.cc
index 63ada53..c9267ab 100644
--- a/tools/dataset/record.cc
+++ b/tools/dataset/record.cc
@@ -15,8 +15,7 @@
 #include <opencv2/imgproc/imgproc.hpp>
 
 #include "mynteye/logger.h"
-#include "mynteye/device/device.h"
-#include "mynteye/device/utils.h"
+#include "mynteye/api/api.h"
 #include "mynteye/util/times.h"
 
 #include "dataset/dataset.h"
@@ -24,33 +23,31 @@
 MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
-  glog_init _(argc, argv);
-
-  auto &&device = device::select();
-  if (!device)
+  auto &&api = API::Create(argc, argv);
+  if (!api)
     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]
+    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
-    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]
+    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]
   }
-  device->SetOptionValue(Option::IR_CONTROL, 80);
-  device->SetOptionValue(Option::FRAME_RATE, 25);
-  device->SetOptionValue(Option::IMU_FREQUENCY, 500);
+  api->SetOptionValue(Option::IR_CONTROL, 80);
+  api->SetOptionValue(Option::FRAME_RATE, 25);
+  api->SetOptionValue(Option::IMU_FREQUENCY, 500);
   */
-  device->LogOptionInfos();
+  api->LogOptionInfos();
 
   // Enable this will cache the motion datas until you get them.
-  device->EnableMotionDatas();
-  device->Start(Source::ALL);
+  api->EnableMotionDatas();
+  api->Start(Source::ALL);
 
   const char *outdir;
   if (argc >= 2) {
@@ -66,22 +63,17 @@ int main(int argc, char *argv[]) {
   std::size_t imu_count = 0;
   auto &&time_beg = times::now();
   while (true) {
-    device->WaitForStreams();
+    api->WaitForStreams();
 
-    auto &&left_datas = device->GetStreamDatas(Stream::LEFT);
-    auto &&right_datas = device->GetStreamDatas(Stream::RIGHT);
+    auto &&left_datas = api->GetStreamDatas(Stream::LEFT);
+    auto &&right_datas = api->GetStreamDatas(Stream::RIGHT);
     img_count += left_datas.size();
 
-    auto &&motion_datas = device->GetMotionDatas();
+    auto &&motion_datas = api->GetMotionDatas();
     imu_count += motion_datas.size();
 
-    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());
+    auto &&left_img = left_datas.back().frame;
+    auto &&right_img = right_datas.back().frame;
 
     cv::Mat img;
     cv::hconcat(left_img, right_img, img);
@@ -111,7 +103,7 @@ int main(int argc, char *argv[]) {
   std::cout << " to " << outdir << std::endl;
   auto &&time_end = times::now();
 
-  device->Stop(Source::ALL);
+  api->Stop(Source::ALL);
 
   float elapsed_ms =
       times::count<times::microseconds>(time_end - time_beg) * 0.001f;
diff --git a/tools/dataset/record2.cc b/tools/dataset/record2.cc
new file mode 100644
index 0000000..63ada53
--- /dev/null
+++ b/tools/dataset/record2.cc
@@ -0,0 +1,126 @@
+// 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 <opencv2/imgproc/imgproc.hpp>
+
+#include "mynteye/logger.h"
+#include "mynteye/device/device.h"
+#include "mynteye/device/utils.h"
+#include "mynteye/util/times.h"
+
+#include "dataset/dataset.h"
+
+MYNTEYE_USE_NAMESPACE
+
+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();
+
+  // Enable this will cache the motion datas until you get them.
+  device->EnableMotionDatas();
+  device->Start(Source::ALL);
+
+  const char *outdir;
+  if (argc >= 2) {
+    outdir = argv[1];
+  } else {
+    outdir = "./dataset";
+  }
+  tools::Dataset dataset(outdir);
+
+  cv::namedWindow("frame");
+
+  std::size_t img_count = 0;
+  std::size_t imu_count = 0;
+  auto &&time_beg = times::now();
+  while (true) {
+    device->WaitForStreams();
+
+    auto &&left_datas = device->GetStreamDatas(Stream::LEFT);
+    auto &&right_datas = device->GetStreamDatas(Stream::RIGHT);
+    img_count += left_datas.size();
+
+    auto &&motion_datas = device->GetMotionDatas();
+    imu_count += motion_datas.size();
+
+    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
+      for (auto &&left : left_datas) {
+        dataset.SaveStreamData(Stream::LEFT, left);
+      }
+      for (auto &&right : right_datas) {
+        dataset.SaveStreamData(Stream::RIGHT, right);
+      }
+
+      for (auto &&motion : motion_datas) {
+        dataset.SaveMotionData(motion);
+      }
+
+      std::cout << "\rSaved " << img_count << " imgs"
+                << ", " << imu_count << " imus" << std::flush;
+    }
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    }
+  }
+  std::cout << " to " << outdir << std::endl;
+  auto &&time_end = times::now();
+
+  device->Stop(Source::ALL);
+
+  float elapsed_ms =
+      times::count<times::microseconds>(time_end - time_beg) * 0.001f;
+  LOG(INFO) << "Time beg: " << times::to_local_string(time_beg)
+            << ", end: " << times::to_local_string(time_end)
+            << ", 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;
+}
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt b/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
index ae85a88..92cea6c 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
@@ -15,8 +15,6 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(mynt_eye_ros_wrapper)
 
-get_filename_component(SDK_DIR "${PROJECT_SOURCE_DIR}/../../../.." ABSOLUTE)
-
 if(NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()
@@ -77,9 +75,11 @@ catkin_package(
   CATKIN_DEPENDS cv_bridge geometry_msgs image_transport nodelet roscpp sensor_msgs std_msgs tf
 )
 
-get_filename_component(SDK_DIR "${PROJECT_SOURCE_DIR}/../../../.." ABSOLUTE)
+#get_filename_component(SDK_DIR "${PROJECT_SOURCE_DIR}/../../../.." ABSOLUTE)
+#LIST(APPEND CMAKE_PREFIX_PATH ${SDK_DIR}/_install/lib/cmake)
+
+LIST(APPEND CMAKE_MODULE_PATH cmake)
 
-LIST(APPEND CMAKE_PREFIX_PATH ${SDK_DIR}/_install/lib/cmake)
 find_package(mynteye REQUIRED)
 message(STATUS "Found mynteye: ${mynteye_VERSION}")
 
@@ -87,10 +87,13 @@ if(NOT mynteye_WITH_API)
   message(FATAL_ERROR "Must with API layer :(")
 endif()
 
-include(${SDK_DIR}/cmake/DetectOpenCV.cmake)
+include(cmake/DetectOpenCV.cmake)
 
 if(mynteye_WITH_GLOG)
-  include(${SDK_DIR}/cmake/DetectGLog.cmake)
+  find_package(glog REQUIRED)
+  if(glog_FOUND)
+    add_definitions(-DWITH_GLOG)
+  endif()
 endif()
 
 # targets
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/cmake/DetectOpenCV.cmake b/wrappers/ros/src/mynt_eye_ros_wrapper/cmake/DetectOpenCV.cmake
new file mode 100644
index 0000000..4673876
--- /dev/null
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/cmake/DetectOpenCV.cmake
@@ -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.
+
+include(${CMAKE_CURRENT_LIST_DIR}/IncludeGuard.cmake)
+cmake_include_guard()
+
+find_package(OpenCV REQUIRED)
+message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
+if(OpenCV_VERSION VERSION_LESS 3.0)
+  add_definitions(-DUSE_OPENCV2)
+elseif(OpenCV_VERSION VERSION_LESS 4.0)
+  add_definitions(-DUSE_OPENCV3)
+else()
+  add_definitions(-DUSE_OPENCV4)
+endif()
+
+list(FIND OpenCV_LIBS "opencv_world" __index)
+if(${__index} GREATER -1)
+  set(WITH_OPENCV_WORLD TRUE)
+endif()
+
+if(MSVC OR MSYS OR MINGW)
+  get_filename_component(OpenCV_LIB_SEARCH_PATH "${OpenCV_LIB_PATH}/../bin" ABSOLUTE)
+else()
+  set(OpenCV_LIB_SEARCH_PATH "${OpenCV_LIB_PATH}")
+endif()
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/cmake/IncludeGuard.cmake b/wrappers/ros/src/mynt_eye_ros_wrapper/cmake/IncludeGuard.cmake
new file mode 100644
index 0000000..4c5dd68
--- /dev/null
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/cmake/IncludeGuard.cmake
@@ -0,0 +1,23 @@
+# 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_guard: https://cmake.org/cmake/help/latest/command/include_guard.html
+
+macro(cmake_include_guard)
+  get_property(INCLUDE_GUARD GLOBAL PROPERTY "_INCLUDE_GUARD_${CMAKE_CURRENT_LIST_FILE}")
+  if(INCLUDE_GUARD)
+    return()
+  endif()
+  set_property(GLOBAL PROPERTY "_INCLUDE_GUARD_${CMAKE_CURRENT_LIST_FILE}" TRUE)
+endmacro()