diff --git a/common/geometry/pose.cc b/common/geometry/pose.cc
index 9e7649b..c246ff8 100644
--- a/common/geometry/pose.cc
+++ b/common/geometry/pose.cc
@@ -2,17 +2,17 @@
 
 namespace common {
 
-Pose3d Interpolate(const Pose3d& pose_from, const Pose3d& pose_to, double t) {
+Pose3D Interpolate(const Pose3D& pose_from, const Pose3D& pose_to, double t) {
   return pose_from.Interpolate(pose_to, t);
 }
 
-Pose3d operator*(const Pose3d& lhs, const Pose3d& rhs) {
-  return Pose3d(lhs.q() * rhs.q(), lhs.q() * rhs.p() + lhs.p());
+Pose3D operator*(const Pose3D& lhs, const Pose3D& rhs) {
+  return Pose3D(lhs.q() * rhs.q(), lhs.q() * rhs.p() + lhs.p());
 }
 
-std::string Pose3d::ToString() const {
+std::string Pose3D::ToString() const {
   std::ostringstream oss;
-  oss << "[Pose3d] q = (" << q_.coeffs().transpose() << "), p = ("
+  oss << "[Pose3D] q = (" << q_.coeffs().transpose() << "), p = ("
       << p_.transpose() << ")";
   return oss.str();
 }
diff --git a/common/geometry/pose.h b/common/geometry/pose.h
index 3eef6c8..2c99c29 100644
--- a/common/geometry/pose.h
+++ b/common/geometry/pose.h
@@ -4,22 +4,22 @@
 
 namespace common {
 
-class Pose3d {
+class Pose3D {
  public:
-  Pose3d() {
+  Pose3D() {
     q_.setIdentity();
     p_.setZero();
   };
 
-  Pose3d(const Eigen::Quaterniond& q, const Eigen::Vector3d& p)
+  Pose3D(const Eigen::Quaterniond& q, const Eigen::Vector3d& p)
       : q_(q), p_(p) {}
 
-  Pose3d(const Eigen::Matrix3d& r_mat, const Eigen::Vector3d& p)
+  Pose3D(const Eigen::Matrix3d& r_mat, const Eigen::Vector3d& p)
       : q_(r_mat), p_(p) {}
 
-  Pose3d(const double* const q, const double* const p) : q_(q), p_(p) {}
+  Pose3D(const double* const q, const double* const p) : q_(q), p_(p) {}
 
-  Pose3d Inv() const {
+  Pose3D Inv() const {
     Eigen::Quaterniond q_inv = q_.inverse();
     Eigen::Vector3d p_inv = q_inv * p_;
     return {q_inv, -p_inv};
@@ -40,7 +40,7 @@ class Pose3d {
   Eigen::Vector3d Rotate(const Eigen::Vector3d& vec) const { return q_ * vec; }
 
   // Spherical linear interpolation to `pose_to`, `t` belongs [0, 1]
-  Pose3d Interpolate(const Pose3d& pose_to, double t) const {
+  Pose3D Interpolate(const Pose3D& pose_to, double t) const {
     Eigen::Quaterniond q_interp = q_.slerp(t, pose_to.q_);
     Eigen::Vector3d p_interp = (pose_to.p_ - p_) * t + p_;
     return {q_interp, p_interp};
@@ -57,10 +57,10 @@ class Pose3d {
   Eigen::Vector3d p_;     // position
 };
 
-Pose3d Interpolate(const Pose3d& pose_from, const Pose3d& pose_to, double t);
+Pose3D Interpolate(const Pose3D& pose_from, const Pose3D& pose_to, double t);
 
-Pose3d operator*(const Pose3d& lhs, const Pose3d& rhs);
+Pose3D operator*(const Pose3D& lhs, const Pose3D& rhs);
 
-using Trans3d = Pose3d;
+using Trans3d = Pose3D;
 
 }  // namespace common
diff --git a/common/visualizer/lidar_visualizer.h b/common/visualizer/lidar_visualizer.h
index 9718e5e..de722d8 100644
--- a/common/visualizer/lidar_visualizer.h
+++ b/common/visualizer/lidar_visualizer.h
@@ -106,10 +106,7 @@ class LidarVisualizer {
   }
 
   void RemoveRenderedObjects() {
-    for (const auto &id : rendered_cloud_ids_) {
-      viewer_->removePointCloud(id);
-    }
-    rendered_cloud_ids_.clear();
+    viewer_->removeAllPointClouds();
     viewer_->removeAllShapes();
   }
 
@@ -124,7 +121,6 @@ class LidarVisualizer {
       const typename pcl::PointCloud<PointType>::ConstPtr &cloud,
       const Color &color, const std::string &id, int point_size = 3) {
     AddPointCloud<PointType>(cloud, color, id, viewer_.get(), point_size);
-    rendered_cloud_ids_.push_back(id);
   }
 
   template <typename PointType>
@@ -132,7 +128,6 @@ class LidarVisualizer {
       const typename pcl::PointCloud<PointType>::ConstPtr &cloud,
       const std::string &field, const std::string &id, int point_size = 3) {
     AddPointCloud<PointType>(cloud, field, id, viewer_.get(), point_size);
-    rendered_cloud_ids_.push_back(id);
   }
 
   // visualizer name
@@ -155,9 +150,6 @@ class LidarVisualizer {
   typename std::deque<std::shared_ptr<LidarVisFrame>>::iterator
       curr_frame_iter_;
 
-  // The rendered cloud ids.
-  std::vector<std::string> rendered_cloud_ids_;
-
   // thread for visualization
   std::unique_ptr<std::thread> thread_ = nullptr;
 
diff --git a/common/visualizer/lidar_visualizer_utils.cc b/common/visualizer/lidar_visualizer_utils.cc
index 7551c4b..c9fa4b9 100644
--- a/common/visualizer/lidar_visualizer_utils.cc
+++ b/common/visualizer/lidar_visualizer_utils.cc
@@ -8,8 +8,8 @@ void AddLine(const pcl::PointXYZ& pt1, const pcl::PointXYZ& pt2,
   viewer->addLine(pt1, pt2, color.r, color.g, color.b, id);
 }
 
-void DrawSphere(const pcl::PointXYZ& center, double radius, const Color& color,
-                const std::string& id, PCLVisualizer* const viewer) {
+void AddSphere(const pcl::PointXYZ& center, double radius, const Color& color,
+               const std::string& id, PCLVisualizer* const viewer) {
   viewer->addSphere(center, radius, color.r, color.g, color.b, id);
 }
 
diff --git a/common/visualizer/lidar_visualizer_utils.h b/common/visualizer/lidar_visualizer_utils.h
index 92bb734..32f5778 100644
--- a/common/visualizer/lidar_visualizer_utils.h
+++ b/common/visualizer/lidar_visualizer_utils.h
@@ -42,7 +42,7 @@ void AddLine(const pcl::PointXYZ& pt1, const pcl::PointXYZ& pt2,
              const Color& color, const std::string& id,
              PCLVisualizer* const viewer);
 
-void DrawSphere(const pcl::PointXYZ& center, double radius, const Color& color,
-                const std::string& id, PCLVisualizer* const viewer);
+void AddSphere(const pcl::PointXYZ& center, double radius, const Color& color,
+               const std::string& id, PCLVisualizer* const viewer);
 
 }  // namespace common
\ No newline at end of file
diff --git a/oh_my_loam/base/helper.cc b/oh_my_loam/base/helper.cc
index 9372a23..0f8a0d5 100644
--- a/oh_my_loam/base/helper.cc
+++ b/oh_my_loam/base/helper.cc
@@ -2,13 +2,13 @@
 
 namespace oh_my_loam {
 
-void TransformToStart(const Pose3d& pose, const TPoint& pt_in,
+void TransformToStart(const Pose3D& pose, const TPoint& pt_in,
                       TPoint* const pt_out) {
-  Pose3d pose_interp = Pose3d().Interpolate(pose, GetTime(pt_in));
+  Pose3D pose_interp = Pose3D().Interpolate(pose, GetTime(pt_in));
   TransformPoint<TPoint>(pose_interp, pt_in, pt_out);
 }
 
-void TransformToEnd(const Pose3d& pose, const TPoint& pt_in,
+void TransformToEnd(const Pose3D& pose, const TPoint& pt_in,
                     TPoint* const pt_out) {
   TransformToStart(pose, pt_in, pt_out);
   TransformPoint<TPoint>(pose.Inv(), *pt_out, pt_out);
diff --git a/oh_my_loam/base/helper.h b/oh_my_loam/base/helper.h
index cb3da80..1ad7c25 100644
--- a/oh_my_loam/base/helper.h
+++ b/oh_my_loam/base/helper.h
@@ -6,7 +6,7 @@
 namespace oh_my_loam {
 
 using common::TPoint;
-using common::Pose3d;
+using common::Pose3D;
 using common::Trans3d;
 
 inline float GetTime(const TPoint& pt) { return pt.time - std::floor(pt.time); }
@@ -14,7 +14,7 @@ inline float GetTime(const TPoint& pt) { return pt.time - std::floor(pt.time); }
 inline int GetScanId(const TPoint& pt) { return static_cast<int>(pt.time); }
 
 template <typename PointType>
-void TransformPoint(const Pose3d& pose, const PointType& pt_in,
+void TransformPoint(const Pose3D& pose, const PointType& pt_in,
                     PointType* const pt_out) {
   *pt_out = pt_in;
   Eigen::Vector3d pnt = pose * Eigen::Vector3d(pt_in.x, pt_in.y, pt_in.z);
@@ -28,14 +28,14 @@ void TransformPoint(const Pose3d& pose, const PointType& pt_in,
  *
  * @param pose Relative pose, end scan time w.r.t. start scan time
  */
-void TransformToStart(const Pose3d& pose, const TPoint& pt_in,
+void TransformToStart(const Pose3D& pose, const TPoint& pt_in,
                       TPoint* const pt_out);
 /**
  * @brief Transform a lidar point to the end of the scan
  *
  * @param pose Relative pose, end scan time w.r.t. start scan time
  */
-void TransformToEnd(const Pose3d& pose, const TPoint& pt_in,
+void TransformToEnd(const Pose3D& pose, const TPoint& pt_in,
                     TPoint* const pt_out);
 
 struct PointLinePair {
diff --git a/oh_my_loam/mapper/mapper.h b/oh_my_loam/mapper/mapper.h
index 4098f30..fb5b9bf 100644
--- a/oh_my_loam/mapper/mapper.h
+++ b/oh_my_loam/mapper/mapper.h
@@ -18,7 +18,7 @@ class Mapper {
   void Visualize();
 
   common::TPointCloudPtr map_pts_;
-  common::Pose3d pose_curr2world_;
+  common::Pose3D pose_curr2world_;
 
   bool is_initialized = false;
 
diff --git a/oh_my_loam/odometer/odometer.cc b/oh_my_loam/odometer/odometer.cc
index aaa612b..f6daf83 100644
--- a/oh_my_loam/odometer/odometer.cc
+++ b/oh_my_loam/odometer/odometer.cc
@@ -23,12 +23,12 @@ bool Odometer::Init() {
   return true;
 }
 
-void Odometer::Process(const Feature& feature, Pose3d* const pose) {
+void Odometer::Process(const Feature& feature, Pose3D* const pose) {
   BLOCK_TIMER_START;
   if (!is_initialized_) {
     is_initialized_ = true;
     UpdatePre(feature);
-    *pose = Pose3d();
+    *pose = Pose3D();
     AWARN << "Odometer initialized....";
     return;
   }
@@ -62,7 +62,7 @@ void Odometer::Process(const Feature& feature, Pose3d* const pose) {
       solver.AddPointPlanePair(pair, GetTime(pair.pt));
     }
     solver.Solve();
-    pose_curr2last_ = Pose3d(q, p);
+    pose_curr2last_ = Pose3D(q, p);
   }
   pose_curr2world_ = pose_curr2world_ * pose_curr2last_;
   *pose = pose_curr2world_;
diff --git a/oh_my_loam/odometer/odometer.h b/oh_my_loam/odometer/odometer.h
index dbbd9d7..0119bed 100644
--- a/oh_my_loam/odometer/odometer.h
+++ b/oh_my_loam/odometer/odometer.h
@@ -15,7 +15,7 @@ class Odometer {
 
   bool Init();
 
-  void Process(const Feature& feature, common::Pose3d* const pose);
+  void Process(const Feature& feature, common::Pose3D* const pose);
 
  protected:
   void UpdatePre(const Feature& feature);
@@ -32,8 +32,8 @@ class Odometer {
                  const std::vector<PointLinePair>& pl_pairs,
                  const std::vector<PointPlanePair>& pp_pairs) const;
 
-  common::Pose3d pose_curr2world_;
-  common::Pose3d pose_curr2last_;
+  common::Pose3D pose_curr2world_;
+  common::Pose3D pose_curr2last_;
 
   common::TPointCloudPtr corn_pre_{nullptr};
   common::TPointCloudPtr surf_pre_{nullptr};
diff --git a/oh_my_loam/oh_my_loam.cc b/oh_my_loam/oh_my_loam.cc
index 39a4321..62c5cdb 100644
--- a/oh_my_loam/oh_my_loam.cc
+++ b/oh_my_loam/oh_my_loam.cc
@@ -35,7 +35,7 @@ void OhMyLoam::Run(double timestamp, const PointCloudConstPtr& cloud_in) {
   RemoveOutliers(*cloud_in, cloud.get());
   Feature feature;
   extractor_->Process(cloud, &feature);
-  Pose3d pose;
+  Pose3D pose;
   odometer_->Process(feature, &pose);
   poses_.emplace_back(pose);
 }
diff --git a/oh_my_loam/oh_my_loam.h b/oh_my_loam/oh_my_loam.h
index 8d38441..b492e5c 100644
--- a/oh_my_loam/oh_my_loam.h
+++ b/oh_my_loam/oh_my_loam.h
@@ -25,7 +25,7 @@ class OhMyLoam {
   // remove outliers: nan and very close points
   void RemoveOutliers(const common::PointCloud& cloud_in,
                       common::PointCloud* const cloud_out) const;
-  std::vector<common::Pose3d> poses_;
+  std::vector<common::Pose3D> poses_;
 
   DISALLOW_COPY_AND_ASSIGN(OhMyLoam)
 };
diff --git a/oh_my_loam/visualizer/odometer_visualizer.cc b/oh_my_loam/visualizer/odometer_visualizer.cc
index 2e71bf0..a12107b 100644
--- a/oh_my_loam/visualizer/odometer_visualizer.cc
+++ b/oh_my_loam/visualizer/odometer_visualizer.cc
@@ -33,9 +33,9 @@ void OdometerVisualizer::Draw() {
   DrawPointCloud<TPoint>(tgt_corn_pts, BLUE, "tgt_corn_pts", 4);
   DrawPointCloud<TPoint>(src_surf_pts, PURPLE, "src_surf_pts", 7);
   DrawPointCloud<TPoint>(tgt_surf_pts, RED, "tgt_surf_pts", 4);
-  std::vector<Pose3d> poses_n;
+  std::vector<Pose3D> poses_n;
   poses_n.reserve((poses_.size()));
-  Pose3d pose_inv = frame.pose_curr2world.Inv();
+  Pose3D pose_inv = frame.pose_curr2world.Inv();
   for (const auto& pose : poses_) {
     poses_n.emplace_back(pose_inv * pose);
   };
diff --git a/oh_my_loam/visualizer/odometer_visualizer.h b/oh_my_loam/visualizer/odometer_visualizer.h
index 135d8ee..8397320 100644
--- a/oh_my_loam/visualizer/odometer_visualizer.h
+++ b/oh_my_loam/visualizer/odometer_visualizer.h
@@ -10,8 +10,8 @@ struct OdometerVisFrame : public common::LidarVisFrame {
   common::TPointCloudPtr corn_pts;
   std::vector<PointLinePair> pl_pairs;
   std::vector<PointPlanePair> pp_pairs;
-  common::Pose3d pose_curr2last;
-  common::Pose3d pose_curr2world;
+  common::Pose3D pose_curr2last;
+  common::Pose3D pose_curr2world;
 };
 
 class OdometerVisualizer : public common::LidarVisualizer {
@@ -23,7 +23,7 @@ class OdometerVisualizer : public common::LidarVisualizer {
  private:
   void Draw() override;
 
-  std::deque<common::Pose3d> poses_;
+  std::deque<common::Pose3D> poses_;
 };
 
 }  // namespace oh_my_loam