diff --git a/samples/tutorials/data/get_depth.cc b/samples/tutorials/data/get_depth.cc
index 2f779b8..d1bbf8e 100644
--- a/samples/tutorials/data/get_depth.cc
+++ b/samples/tutorials/data/get_depth.cc
@@ -43,9 +43,11 @@ int main(int argc, char *argv[]) {
     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);
+    if (!left_data.frame.empty() && !right_data.frame.empty()) {
+      cv::Mat img;
+      cv::hconcat(left_data.frame, right_data.frame, img);
+      cv::imshow("frame", img);
+    }
 
     auto &&depth_data = api->GetStreamData(Stream::DEPTH);
     if (!depth_data.frame.empty()) {
diff --git a/samples/tutorials/data/get_disparity.cc b/samples/tutorials/data/get_disparity.cc
index a3ddaa6..b5f1fd5 100644
--- a/samples/tutorials/data/get_disparity.cc
+++ b/samples/tutorials/data/get_disparity.cc
@@ -43,9 +43,11 @@ int main(int argc, char *argv[]) {
     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);
+    if (!left_data.frame.empty() && !right_data.frame.empty()) {
+      cv::Mat img;
+      cv::hconcat(left_data.frame, right_data.frame, img);
+      cv::imshow("frame", img);
+    }
 
     // auto &&disp_data = api->GetStreamData(Stream::DISPARITY);
     // if (!disp_data.frame.empty()) {
diff --git a/samples/tutorials/data/get_imu.cc b/samples/tutorials/data/get_imu.cc
index c09d225..eca5b3d 100644
--- a/samples/tutorials/data/get_imu.cc
+++ b/samples/tutorials/data/get_imu.cc
@@ -44,30 +44,32 @@ int main(int argc, char *argv[]) {
     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);
+    if (!left_data.frame.empty() && !right_data.frame.empty()) {
+      cv::Mat img;
+      cv::hconcat(left_data.frame, right_data.frame, img);
 
-    auto &&motion_datas = api->GetMotionDatas();
-    /*
-    for (auto &&data : motion_datas) {
-      LOG(INFO) << "Imu 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;
+      auto &&motion_datas = api->GetMotionDatas();
+      /*
+      for (auto &&data : motion_datas) {
+        LOG(INFO) << "Imu 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;
+      }
+      */
+
+      painter.DrawImgData(img, *left_data.img);
+      if (!motion_datas.empty()) {
+        painter.DrawImuData(img, *motion_datas[0].imu);
+      }
+
+      cv::imshow("frame", img);
     }
-    */
-
-    painter.DrawImgData(img, *left_data.img);
-    if (!motion_datas.empty()) {
-      painter.DrawImuData(img, *motion_datas[0].imu);
-    }
-
-    cv::imshow("frame", img);
 
     char key = static_cast<char>(cv::waitKey(1));
     if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
diff --git a/samples/tutorials/data/get_imu_correspondence.cc b/samples/tutorials/data/get_imu_correspondence.cc
index 26a5870..a32a8df 100644
--- a/samples/tutorials/data/get_imu_correspondence.cc
+++ b/samples/tutorials/data/get_imu_correspondence.cc
@@ -61,6 +61,10 @@ int main(int argc, char *argv[]) {
         << ", diff_prev=" << (img_stamp - prev_img_stamp);
     prev_img_stamp = img_stamp;
 
+    // if (left_data.frame.empty() || right_data.frame.empty()) {
+    //   continue;
+    // }
+
     cv::Mat img;
     cv::hconcat(left_data.frame, right_data.frame, img);
 
diff --git a/samples/tutorials/data/get_points.cc b/samples/tutorials/data/get_points.cc
index e8693ac..b51c966 100644
--- a/samples/tutorials/data/get_points.cc
+++ b/samples/tutorials/data/get_points.cc
@@ -41,10 +41,11 @@ int main(int argc, char *argv[]) {
 
     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);
+    if (!left_data.frame.empty() && !right_data.frame.empty()) {
+      cv::Mat img;
+      cv::hconcat(left_data.frame, right_data.frame, img);
+      cv::imshow("frame", img);
+    }
 
     auto &&points_data = api->GetStreamData(Stream::POINTS);
     if (!points_data.frame.empty()) {
diff --git a/samples/tutorials/data/get_stereo.cc b/samples/tutorials/data/get_stereo.cc
index fc97bc4..099e628 100644
--- a/samples/tutorials/data/get_stereo.cc
+++ b/samples/tutorials/data/get_stereo.cc
@@ -37,8 +37,10 @@ int main(int argc, char *argv[]) {
     auto &&right_data = api->GetStreamData(Stream::RIGHT);
 
     cv::Mat img;
-    cv::hconcat(left_data.frame, right_data.frame, img);
-    cv::imshow("frame", img);
+    if (!left_data.frame.empty() && !right_data.frame.empty()) {
+      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
diff --git a/src/mynteye/api/processor/depth_processor.h b/src/mynteye/api/processor/depth_processor.h
index 0d57d04..456893c 100644
--- a/src/mynteye/api/processor/depth_processor.h
+++ b/src/mynteye/api/processor/depth_processor.h
@@ -34,9 +34,6 @@ class DepthProcessor : public Processor {
   std::string Name() override;
 
  protected:
-  inline Processor::process_type ProcessOutputConnection() override {
-    return Processor::WITHOUT_CLONE;
-  }
   inline Processor::process_type ProcessInputConnection() override {
     return Processor::WITHOUT_CLONE;
   }
diff --git a/src/mynteye/api/processor/depth_processor_ocv.h b/src/mynteye/api/processor/depth_processor_ocv.h
index 3c497e3..1618713 100644
--- a/src/mynteye/api/processor/depth_processor_ocv.h
+++ b/src/mynteye/api/processor/depth_processor_ocv.h
@@ -29,9 +29,6 @@ class DepthProcessorOCV : public Processor {
   virtual ~DepthProcessorOCV();
 
   std::string Name() override;
-  inline Processor::process_type ProcessOutputConnection() override {
-    return Processor::WITHOUT_CLONE;
-  }
 
  protected:
   Object *OnCreateOutput() override;
diff --git a/src/mynteye/api/processor/disparity_processor.h b/src/mynteye/api/processor/disparity_processor.h
index 5fd470d..fd6cc33 100644
--- a/src/mynteye/api/processor/disparity_processor.h
+++ b/src/mynteye/api/processor/disparity_processor.h
@@ -44,9 +44,6 @@ class DisparityProcessor : public Processor {
   inline Processor::process_type ProcessOutputConnection() override {
     return Processor::WITHOUT_CLONE;
   }
-  inline Processor::process_type ProcessInputConnection() override {
-    return Processor::WITHOUT_CLONE;
-  }
   Object *OnCreateOutput() override;
   bool OnProcess(
       Object *const in, Object *const out,
diff --git a/src/mynteye/api/processor/root_camera_processor.cc b/src/mynteye/api/processor/root_camera_processor.cc
index 2f8fe3c..ff22cb8 100644
--- a/src/mynteye/api/processor/root_camera_processor.cc
+++ b/src/mynteye/api/processor/root_camera_processor.cc
@@ -116,7 +116,15 @@ api::StreamData s1s2Processor::GetStreamData(const Stream &stream) {
     }
   }
   if (enable_mode == Synthetic::MODE_ON) {
-    return data2api(device_->GetStreamData(stream));
+    auto res = data2api(device_->GetStreamData(stream));
+    if (res.img == nullptr ||
+        res.img->timestamp == last_frame_id_cd ||
+        res.frame.empty()) {
+      return {};
+    }
+    last_frame_id_cd = res.img->timestamp;
+    return res;
+    // return data2api(device_->GetStreamData(stream));
   }
   LOG(ERROR) << "Failed to get device stream data of " << stream
                << ", unsupported or disabled";