diff --git a/rviz_cfg/loam_livox.rviz b/rviz_cfg/loam_livox.rviz
index c519ff5..4e02e58 100644
--- a/rviz_cfg/loam_livox.rviz
+++ b/rviz_cfg/loam_livox.rviz
@@ -85,7 +85,7 @@ Visualization Manager:
           Enabled: true
           Invert Rainbow: false
           Max Color: 255; 255; 255
-          Max Intensity: 163
+          Max Intensity: 234
           Min Color: 0; 0; 0
           Min Intensity: 0
           Name: surround
@@ -326,25 +326,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/ThirdPersonFollower
-      Distance: 247.9972686767578
+      Distance: 89.18838500976562
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 165.75035095214844
-        Y: -44.61741256713867
-        Z: 1.1274762073298916e-5
+        X: -4.903029441833496
+        Y: -19.24248504638672
+        Z: -2.85572896245867e-5
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 1.5697963237762451
+      Pitch: 0.29979732632637024
       Target Frame: global
       Value: ThirdPersonFollower (rviz)
-      Yaw: 4.727225303649902
+      Yaw: 4.977229118347168
     Saved: ~
 Window Geometry:
   Displays:
diff --git a/src/preprocess.cpp b/src/preprocess.cpp
index 2fd4187..9d1998a 100644
--- a/src/preprocess.cpp
+++ b/src/preprocess.cpp
@@ -263,8 +263,6 @@ void Preprocess::oust64_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
   // pub_func(pl_surf, pub_corn, msg->header.stamp);
 }
 
-#define MAX_LINE_NUM 64
-
 void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
 {
     pl_surf.clear();
@@ -276,11 +274,13 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
     int plsize = pl_orig.points.size();
     pl_surf.reserve(plsize);
 
-    bool is_first[MAX_LINE_NUM];
-    double yaw_fp[MAX_LINE_NUM]={0};     // yaw of first scan point
+    /*** These variables only works when no point timestamps given ***/
     double omega_l=3.61;       // scan angular velocity
-    float yaw_last[MAX_LINE_NUM]={0.0};  // yaw of last scan point
-    float time_last[MAX_LINE_NUM]={0.0}; // last offset time
+    std::vector<bool> is_first(N_SCANS,true);
+    std::vector<double> yaw_fp(N_SCANS, 0.0);      // yaw of first scan point
+    std::vector<float> yaw_last(N_SCANS, 0.0);   // yaw of last scan point
+    std::vector<float> time_last(N_SCANS, 0.0);  // last offset time
+    /*****************************************************************/
 
     if (pl_orig.points[plsize - 1].time > 0)
     {
@@ -289,7 +289,6 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
     else
     {
       given_offset_time = false;
-      memset(is_first, true, sizeof(is_first));
       double yaw_first = atan2(pl_orig.points[0].y, pl_orig.points[0].x) * 57.29578;
       double yaw_end  = yaw_first;
       int layer_first = pl_orig.points[0].ring;
@@ -422,28 +421,19 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
 
           if (added_pt.curvature < time_last[layer])  added_pt.curvature+=360.0/omega_l;
 
-          // added_pt.curvature = pl_orig.points[i].t;
-
           yaw_last[layer] = yaw_angle;
           time_last[layer]=added_pt.curvature;
         }
 
-        // if(i==(plsize-1))  printf("index: %d layer: %d, yaw: %lf, offset-time: %lf, condition: %d\n", i, layer, yaw_angle, added_pt.curvature, prints);
         if (i % point_filter_num == 0)
         {
           if(added_pt.x*added_pt.x+added_pt.y*added_pt.y+added_pt.z*added_pt.z > blind)
           {
             pl_surf.points.push_back(added_pt);
-            // printf("time mode: %d time: %d \n", given_offset_time, pl_orig.points[i].t);
           }
         }
       }
     }
-
-    
-    // pub_func(pl_surf, pub_full, msg->header.stamp);
-    // pub_func(pl_surf, pub_surf, msg->header.stamp);
-    // pub_func(pl_surf, pub_corn, msg->header.stamp);
 }
 
 void Preprocess::give_feature(pcl::PointCloud<PointType> &pl, vector<orgtype> &types)