diff --git a/src/mynteye/api/processor/rectify_processor.cc b/src/mynteye/api/processor/rectify_processor.cc
index 6a130bc..e668eca 100644
--- a/src/mynteye/api/processor/rectify_processor.cc
+++ b/src/mynteye/api/processor/rectify_processor.cc
@@ -339,21 +339,12 @@ void RectifyProcessor::InitParams(
       generateCameraFromIntrinsicsEquidistant(in_left);
   camodocal::CameraPtr camera_odo_ptr_right =
       generateCameraFromIntrinsicsEquidistant(in_right);
-  if (calib_infos) {
-    auto calib_info_tmp = stereoRectify(camera_odo_ptr_left,
+  auto calib_info_tmp = stereoRectify(camera_odo_ptr_left,
         camera_odo_ptr_right,
         in_left,
         in_right,
         ex_right_to_left);
-    *calib_infos = *calib_info_tmp;
-  } else {
-    calib_infos =
-        stereoRectify(camera_odo_ptr_left,
-                    camera_odo_ptr_right,
-                    in_left,
-                    in_right,
-                    ex_right_to_left);
-  }
+  *calib_infos = *calib_info_tmp;
   cv::Mat rect_R_l =
       cv::Mat::eye(3, 3, CV_32F), rect_R_r = cv::Mat::eye(3, 3, CV_32F);
   for (size_t i = 0; i < 3; i++) {
@@ -390,6 +381,7 @@ RectifyProcessor::RectifyProcessor(
     : Processor(std::move(proc_period)),
       calib_model(CalibrationModel::UNKNOW) {
   VLOG(2) << __func__ << ": proc_period=" << proc_period;
+  calib_infos = std::make_shared<struct camera_calib_info_pair>();
   InitParams(
     *std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_left),
     *std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_right),