diff --git a/samples/api/camera.cc b/samples/api/camera.cc
index b72530c..a90c102 100644
--- a/samples/api/camera.cc
+++ b/samples/api/camera.cc
@@ -24,8 +24,7 @@ int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
   if (!api)
     return 1;
-  api->SetStreamRequest(
-      Resolution::RES_1280x400, Format::BGR888, FrameRate::RATE_20_FPS);
+  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
   // api->SetOptionValue(Option::FRAME_RATE, 25);
   // api->SetOptionValue(Option::IMU_FREQUENCY, 500);
   api->SetOptionValue(Option::IR_CONTROL, 80);
diff --git a/samples/device/camera.cc b/samples/device/camera.cc
index 19f03d4..e59211c 100644
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -51,8 +51,8 @@ int main(int argc, char *argv[]) {
   // device->RunOptionAction(Option::ERASE_CHIP);
 
   std::size_t left_count = 0;
-  device->SetStreamRequest(
-      Resolution::RES_1280x400, Format::BGR888, FrameRate::RATE_30_FPS);
+  device->InitResolution(Resolution::RES_1280x400);
+  device->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
   device->SetStreamCallback(
       Stream::LEFT, [&left_count](const device::StreamData &data) {
         CHECK_NOTNULL(data.img);
diff --git a/samples/tutorials/data/get_img_params.cc b/samples/tutorials/data/get_img_params.cc
index aa79016..3f09524 100644
--- a/samples/tutorials/data/get_img_params.cc
+++ b/samples/tutorials/data/get_img_params.cc
@@ -21,8 +21,7 @@ int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
   if (!api)
     return 1;
-  api->SetStreamRequest(
-      Resolution::RES_2560x800, Format::BGR888, FrameRate::RATE_30_FPS);
+  api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
   LOG(INFO) << "Intrinsics left: {" << api->GetIntrinsics(Stream::LEFT) << "}";
   LOG(INFO) << "Intrinsics right: {" << api->GetIntrinsics(Stream::RIGHT)
             << "}";
diff --git a/src/api/api.cc b/src/api/api.cc
index 50b0893..7751fe6 100644
--- a/src/api/api.cc
+++ b/src/api/api.cc
@@ -220,29 +220,51 @@ 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);
+std::shared_ptr<API> API::Create(Resolution res) {
   auto &&device = device::select();
   if (!device)
     return nullptr;
+  device->InitResolution(res);
   return std::make_shared<API>(device);
 }
 
+std::shared_ptr<API> API::Create(
+    std::shared_ptr<Device> device, Resolution res) {
+  if (!device)
+    return nullptr;
+  LOG(INFO) << "API::Create(std::shared_ptr<Device> device,Resolution res)";
+  device->InitResolution(res);
+  return std::make_shared<API>(device);
+}
+
+std::shared_ptr<API> API::Create(std::shared_ptr<Device> device) {
+  return Create(device, Resolution::RES_2560x800);
+}
+
+std::shared_ptr<API> API::Create(int argc, char *argv[]) {
+  auto &&device = device::select();
+  return Create(argc, argv, device);
+}
+
 std::shared_ptr<API> API::Create(
     int argc, char *argv[], std::shared_ptr<Device> device) {
   static glog_init _(argc, argv);
+  int index = 0;
+  if (argc >= 2) {
+    try {
+      index = std::stoi(argv[1]);
+    } catch (...) {
+      LOG(WARNING) << "Unexpected index.";
+    }
+  }
   if (!device)
     return nullptr;
+  if (index == 0)
+    device->InitResolution(Resolution::RES_1280x400);
+  else if (index == 1)
+    device->InitResolution(Resolution::RES_2560x800);
+  else
+    device->InitResolution(Resolution::RES_1280x400);
   return std::make_shared<API>(device);
 }
 
@@ -266,10 +288,8 @@ bool API::Supports(const AddOns &addon) const {
   return device_->Supports(addon);
 }
 
-void API::SetStreamRequest(
-    const Resolution &res, const Format &format, const FrameRate &rate) {
-  device_->SetStreamRequest(res, format, rate);
-  CheckImageParams();
+void API::SetStreamRequest(const Format &format, const FrameRate &rate) {
+  device_->SetStreamRequest(format, rate);
 }
 
 const std::vector<StreamRequest> &API::GetStreamRequests(
diff --git a/src/api/api.h b/src/api/api.h
index 5f17147..5451ad0 100644
--- a/src/api/api.h
+++ b/src/api/api.h
@@ -95,7 +95,14 @@ class MYNTEYE_API API {
    * @return the API instance.
    * @note This will call device::select() to select a device.
    */
-  static std::shared_ptr<API> Create();
+  static std::shared_ptr<API> Create(Resolution res);
+  /**
+   * Create the API instance.
+   * @param device the selected device.
+   * @return the API instance.
+   */
+  static std::shared_ptr<API> Create(
+      std::shared_ptr<Device> device, Resolution res);
   /**
    * Create the API instance.
    * @param device the selected device.
@@ -147,8 +154,7 @@ class MYNTEYE_API API {
   /**
    * set the stream request.
    */
-  void SetStreamRequest(
-      const Resolution &res, const Format &format, const FrameRate &rate);
+  void SetStreamRequest(const Format &format, const FrameRate &rate);
   /**
    * Get all stream requests of the capability.
    */
diff --git a/src/device/device.cc b/src/device/device.cc
index b92208e..c78f850 100644
--- a/src/device/device.cc
+++ b/src/device/device.cc
@@ -104,13 +104,14 @@ std::shared_ptr<Device> Device::Create(
     VLOG(2) << "MYNE EYE Model: " << model_s;
     DeviceModel model(model_s);
     if (model.type == 'S') {
-      switch (model.custom_code) {
-        case '0':
+      switch (model.generation) {
+        case 1:
           return std::make_shared<StandardDevice>(device);
-        case 'A':
+        case 2:
           return std::make_shared<StandardDevice>(device);
         default:
-          LOG(FATAL) << "No such custom code now";
+          return std::make_shared<StandardDevice>(device);
+          // LOG(FATAL) << "No such generation now";
       }
     } else {
       LOG(FATAL) << "MYNT EYE model is not supported now";
@@ -432,10 +433,13 @@ std::vector<device::MotionData> Device::GetMotionDatas() {
   return motions_->GetMotionDatas();
 }
 
-void Device::SetStreamRequest(
-    const Resolution &res, const Format &format, const FrameRate &rate) {
-  StreamRequest request(res, format, rate);
-  ConfigIntrinsics(res);
+void Device::InitResolution(const Resolution &res) {
+  res_ = res;
+  ConfigIntrinsics(res_);
+}
+
+void Device::SetStreamRequest(const Format &format, const FrameRate &rate) {
+  StreamRequest request(res_, format, rate);
   request_ = request;
 }
 
diff --git a/src/device/device.h b/src/device/device.h
index ae9d608..035335e 100644
--- a/src/device/device.h
+++ b/src/device/device.h
@@ -103,12 +103,14 @@ class MYNTEYE_API Device {
    * Supports the addon or not.
    */
   bool Supports(const AddOns &addon) const;
-
+  /**
+   * Init device resolution.
+   */
+  void InitResolution(const Resolution &res);
   /**
    * set the stream request.
    */
-  void SetStreamRequest(
-      const Resolution &res, const Format &format, const FrameRate &rate);
+  void SetStreamRequest(const Format &format, const FrameRate &rate);
   /**
    * Get all stream requests of the capability.
    */
@@ -296,6 +298,7 @@ class MYNTEYE_API Device {
 
  private:
   Model model_;
+  Resolution res_ = Resolution::RES_752x480;
   StreamRequest request_;
   std::shared_ptr<uvc::device> device_;
   std::shared_ptr<DeviceInfo> device_info_;
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt b/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
index 83ffce1..a8ef045 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
@@ -96,6 +96,7 @@ add_compile_options(-std=c++11)
 
 include_directories(
   ${catkin_INCLUDE_DIRS}
+  ${SDK_DIR}/src
 )
 
 set(LINK_LIBS
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
index 866d057..e0fddc6 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -531,9 +531,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       }
     }
 
-    api_ = API::Create(device);
-    api_->SetStreamRequest(
-        Resolution::RES_1280x400, Format::BGR888, FrameRate::RATE_20_FPS);
+    api_ = API::Create(device, Resolution::RES_1280x400);
+    api_->SetStreamRequest(Format::BGR888, FrameRate::RATE_20_FPS);
   }
 
   sensor_msgs::CameraInfoPtr getCameraInfo(const Stream &stream) {