diff --git a/rviz_cfg/loam_livox.rviz b/rviz_cfg/loam_livox.rviz
index 0219dee..c519ff5 100644
--- a/rviz_cfg/loam_livox.rviz
+++ b/rviz_cfg/loam_livox.rviz
@@ -81,11 +81,11 @@ Visualization Manager:
           Class: rviz/PointCloud2
           Color: 238; 238; 236
           Color Transformer: Intensity
-          Decay Time: 1000
+          Decay Time: 0
           Enabled: true
           Invert Rainbow: false
           Max Color: 255; 255; 255
-          Max Intensity: 158
+          Max Intensity: 163
           Min Color: 0; 0; 0
           Min Intensity: 0
           Name: surround
@@ -100,7 +100,7 @@ Visualization Manager:
           Use Fixed Frame: true
           Use rainbow: true
           Value: true
-        - Alpha: 0.10000000149011612
+        - Alpha: 0.15000000596046448
           Autocompute Intensity Bounds: true
           Autocompute Value Bounds:
             Max Value: 15
@@ -302,7 +302,7 @@ Visualization Manager:
   Global Options:
     Background Color: 0; 0; 0
     Default Light: true
-    Fixed Frame: global
+    Fixed Frame: camera_init
     Frame Rate: 10
   Name: root
   Tools:
@@ -326,16 +326,16 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/ThirdPersonFollower
-      Distance: 62.12976837158203
+      Distance: 247.9972686767578
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 36.65506362915039
-        Y: 2.3543496131896973
-        Z: -1.0087411283166148e-5
+        X: 165.75035095214844
+        Y: -44.61741256713867
+        Z: 1.1274762073298916e-5
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
@@ -344,7 +344,7 @@ Visualization Manager:
       Pitch: 1.5697963237762451
       Target Frame: global
       Value: ThirdPersonFollower (rviz)
-      Yaw: 3.0072357654571533
+      Yaw: 4.727225303649902
     Saved: ~
 Window Geometry:
   Displays:
@@ -352,7 +352,7 @@ Window Geometry:
   Height: 1385
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016b000004b7fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004b7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000297000001dc0000000000000000fb0000000a0049006d0061006700650000000394000001600000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c700000000000000000000000100000152000004b7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000004b7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009bd00000052fc0100000002fb0000000800540069006d00650100000000000009bd000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000006f4000004b700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001c8000004b7fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004b7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000297000001dc0000000000000000fb0000000a0049006d0061006700650000000394000001600000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c700000000000000000000000100000152000004b7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000004b7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009bd00000052fc0100000002fb0000000800540069006d00650100000000000009bd000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000697000004b700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time: