diff --git a/CMakeLists.txt b/CMakeLists.txt
index ef92d01..5af7ebd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.15)
 project(oh_my_loam)
 
 set(CMAKE_CXX_FLAGS "-std=c++17 -Wall -lpthread")
@@ -26,7 +26,6 @@ find_package(catkin REQUIRED COMPONENTS
 include_directories(SYSTEM
 	${catkin_INCLUDE_DIRS} 
   ${PCL_INCLUDE_DIRS}
-  ${CERES_INCLUDE_DIRS}
   ${G3LOG_INCLUDE_DIRS}
 )
 
@@ -53,7 +52,6 @@ target_link_libraries(main
   ${PCL_LIBRARIES}
   ${G3LOG_LIBRARIES}
   ${YAML_CPP_LIBRARIES}
-  g3log
   common
   oh_my_loam
   extractor
diff --git a/common/log.cc b/common/log.cc
index 2ffcadc..eb1264e 100644
--- a/common/log.cc
+++ b/common/log.cc
@@ -9,6 +9,7 @@ void InitG3Logging(bool log_to_file, const std::string& prefix,
   worker->addSink(std::make_unique<g3::CustomSink>(),
                   &g3::CustomSink::StdLogMessage);
   if (log_to_file) {
+    std::filesystem::create_directories(path);
     std::ostringstream oss;
     oss << path;
     if (*path.rbegin() != '/') oss << '/';
diff --git a/common/log.h b/common/log.h
index 9426df1..c2d486e 100644
--- a/common/log.h
+++ b/common/log.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <chrono>
+#include <filesystem>
 #include <fstream>
 #include <g3log/g3log.hpp>
 #include <g3log/logworker.hpp>
diff --git a/configs/config.yaml b/configs/config.yaml
index 942a5cf..b9d3d4f 100644
--- a/configs/config.yaml
+++ b/configs/config.yaml
@@ -1,10 +1,10 @@
 # global configs
 lidar: VPL16
 log_to_file: false
-log_path: /home/lf/catkin_ws/src/oh_my_loam/.log
+log_path: /data/log/oh_my_loam
 vis: true
 
-# configs for feature points extractor
+# configs for extractor
 extractor_config:
   min_point_num: 66
   vis: false
diff --git a/src/visualizer/base_visualizer.h b/src/visualizer/base_visualizer.h
index 5d1b087..36b3e96 100644
--- a/src/visualizer/base_visualizer.h
+++ b/src/visualizer/base_visualizer.h
@@ -60,7 +60,7 @@ class Visualizer {
     is_updated_ = true;
   }
 
-  std::string Name() { return name_; }
+  std::string Name() const { return name_; }
 
  protected:
   void Run() {
@@ -75,15 +75,10 @@ class Visualizer {
   }
 
   /**
-   * @brief Draw objects. This method should be overrided for customization.
-   *
+   * @brief Draw objects, pure virtual function. Example code:
    * virtual void Draw() {
    *   auto frame = GetCurrentFrame<VisFrame>();
-   *   {  // Update cloud
-   *     std::string id = "point cloud";
-   *     DrawPointCloud(*frame.cloud, {255, 255, 255}, id, viewer_.get());
-   *     rendered_cloud_ids_.push_back(id);
-   *   }
+   *   AddPointCloud(frame.cloud, {255, 255, 255}, "point cloud");
    * }
    */
   virtual void Draw() = 0;
@@ -134,6 +129,22 @@ class Visualizer {
     return *static_cast<FrameT *>((*curr_frame_iter_).get());
   }
 
+  template <typename PointType>
+  void DrawPointCloud(
+      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>
+  void DrawPointCloud(
+      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
   std::string name_;
   size_t max_history_size_;
diff --git a/src/visualizer/extractor_visualizer.cc b/src/visualizer/extractor_visualizer.cc
index 1d076d1..d9f3571 100644
--- a/src/visualizer/extractor_visualizer.cc
+++ b/src/visualizer/extractor_visualizer.cc
@@ -4,35 +4,15 @@ namespace oh_my_loam {
 
 void ExtractorVisualizer::Draw() {
   auto frame = GetCurrentFrame<ExtractorVisFrame>();
-  {  // add raw point cloud
-    std::string id = "raw point cloud";
-    DrawPointCloud(*frame.cloud, WHITE, id, viewer_.get());
-    rendered_cloud_ids_.push_back(id);
-  }
-  {  // add less_flat_surf_pts
-    std::string id = "less_flat_surf_pts";
-    DrawPointCloud(*frame.feature_pts.less_flat_surf_pts, CYAN, id,
-                   viewer_.get(), 5);
-    rendered_cloud_ids_.push_back(id);
-  }
-  {  // add flat_surf_pts
-    std::string id = "flat_surf_pts";
-    DrawPointCloud(*frame.feature_pts.flat_surf_pts, BLUE, id, viewer_.get(),
-                   7);
-    rendered_cloud_ids_.push_back(id);
-  }
-  {  // add less_sharp_corner_pts
-    std::string id = "less_sharp_corner_pts";
-    DrawPointCloud(*frame.feature_pts.less_sharp_corner_pts, PURPLE, id,
-                   viewer_.get(), 5);
-    rendered_cloud_ids_.push_back(id);
-  }
-  {  // add sharp_corner_pts
-    std::string id = "sharp_corner_pts";
-    DrawPointCloud(*frame.feature_pts.sharp_corner_pts, RED, id, viewer_.get(),
-                   7);
-    rendered_cloud_ids_.push_back(id);
-  }
+  DrawPointCloud<Point>(frame.cloud, WHITE, "raw_point_cloud");
+  DrawPointCloud<TPoint>(frame.feature_pts.less_flat_surf_pts, CYAN,
+                         "less_flat_surf_pts");
+  DrawPointCloud<TPoint>(frame.feature_pts.flat_surf_pts, BLUE,
+                         "flat_surf_pts");
+  DrawPointCloud<TPoint>(frame.feature_pts.less_sharp_corner_pts, PURPLE,
+                         "less_sharp_corner_pts");
+  DrawPointCloud<TPoint>(frame.feature_pts.sharp_corner_pts, RED,
+                         "sharp_corner_pts");
 };
 
 }  // namespace oh_my_loam
diff --git a/src/visualizer/odometry_visualizer.cc b/src/visualizer/odometry_visualizer.cc
index bd35909..7788c62 100644
--- a/src/visualizer/odometry_visualizer.cc
+++ b/src/visualizer/odometry_visualizer.cc
@@ -4,45 +4,31 @@ namespace oh_my_loam {
 
 void OdometryVisualizer::Draw() {
   auto frame = GetCurrentFrame<OdometryVisFrame>();
-  TPointCloud src_corn_pts, tgt_corn_pts;
-  src_corn_pts.resize(frame.pl_pairs.size());
-  tgt_corn_pts.resize(frame.pl_pairs.size() * 2);
+  TPointCloudPtr src_corn_pts(new TPointCloud);
+  TPointCloudPtr tgt_corn_pts(new TPointCloud);
+  src_corn_pts->resize(frame.pl_pairs.size());
+  tgt_corn_pts->resize(frame.pl_pairs.size() * 2);
   for (size_t i = 0; i < frame.pl_pairs.size(); ++i) {
     const auto& pair = frame.pl_pairs[i];
-    TransformToStart(frame.pose_curr2last, pair.pt, &src_corn_pts[i]);
-    tgt_corn_pts[2 * i] = pair.line.pt1;
-    tgt_corn_pts[2 * i + 1] = pair.line.pt2;
+    TransformToStart(frame.pose_curr2last, pair.pt, &src_corn_pts->points[i]);
+    tgt_corn_pts->points[2 * i] = pair.line.pt1;
+    tgt_corn_pts->points[2 * i + 1] = pair.line.pt2;
   }
-  TPointCloud src_surf_pts, tgt_surf_pts;
-  src_surf_pts.resize(frame.pp_pairs.size());
-  tgt_surf_pts.resize(frame.pp_pairs.size() * 3);
+  TPointCloudPtr src_surf_pts(new TPointCloud);
+  TPointCloudPtr tgt_surf_pts(new TPointCloud);
+  src_surf_pts->resize(frame.pp_pairs.size());
+  tgt_surf_pts->resize(frame.pp_pairs.size() * 3);
   for (size_t i = 0; i < frame.pp_pairs.size(); ++i) {
     const auto& pair = frame.pp_pairs[i];
-    TransformToStart(frame.pose_curr2last, pair.pt, &src_surf_pts[i]);
-    tgt_surf_pts[3 * i] = pair.plane.pt1;
-    tgt_surf_pts[3 * i + 1] = pair.plane.pt2;
-    tgt_surf_pts[3 * i + 2] = pair.plane.pt3;
-  }
-  {  // add src_corn_pts
-    std::string id = "src_corn_pts";
-    DrawPointCloud(src_corn_pts, CYAN, id, viewer_.get(), 7);
-    rendered_cloud_ids_.push_back(id);
-  }
-  {  // add tgt_corn_pts
-    std::string id = "tgt_corn_pts";
-    DrawPointCloud(tgt_corn_pts, BLUE, id, viewer_.get(), 4);
-    rendered_cloud_ids_.push_back(id);
-  }
-  {  // add src_surf_pts
-    std::string id = "src_surf_pts";
-    DrawPointCloud(src_surf_pts, PURPLE, id, viewer_.get(), 7);
-    rendered_cloud_ids_.push_back(id);
-  }
-  {  // add tgt_surf_pts
-    std::string id = "tgt_surf_pts";
-    DrawPointCloud(tgt_surf_pts, RED, id, viewer_.get(), 4);
-    rendered_cloud_ids_.push_back(id);
+    TransformToStart(frame.pose_curr2last, pair.pt, &src_surf_pts->points[i]);
+    tgt_surf_pts->points[3 * i] = pair.plane.pt1;
+    tgt_surf_pts->points[3 * i + 1] = pair.plane.pt2;
+    tgt_surf_pts->points[3 * i + 2] = pair.plane.pt3;
   }
+  DrawPointCloud<TPoint>(src_corn_pts, CYAN, "src_corn_pts", 7);
+  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;
   poses_n.reserve((poses_.size()));
   Pose3D pose_inv = frame.pose_curr2world.Inv();
@@ -53,11 +39,11 @@ void OdometryVisualizer::Draw() {
     Eigen::Vector3f p1 = poses_n[i].p().cast<float>();
     if (i < poses_n.size() - 1) {
       Eigen::Vector3f p2 = poses_n[i + 1].p().cast<float>();
-      DrawLine(Point(p1.x(), p1.y(), p1.z()), Point(p2.x(), p2.y(), p2.z()),
-               WHITE, "line" + std::to_string(i), viewer_.get());
+      AddLine(Point(p1.x(), p1.y(), p1.z()), Point(p2.x(), p2.y(), p2.z()),
+              WHITE, "line" + std::to_string(i), viewer_.get());
     } else {
-      DrawLine(Point(p1.x(), p1.y(), p1.z()), Point(0, 0, 0), WHITE,
-               "line" + std::to_string(i), viewer_.get());
+      AddLine(Point(p1.x(), p1.y(), p1.z()), Point(0, 0, 0), WHITE,
+              "line" + std::to_string(i), viewer_.get());
     }
   }
   poses_.push_back(frame.pose_curr2world);
diff --git a/src/visualizer/utils.h b/src/visualizer/utils.h
index f92af59..30b1972 100644
--- a/src/visualizer/utils.h
+++ b/src/visualizer/utils.h
@@ -7,30 +7,30 @@ using PCLVisualizer = pcl::visualization::PCLVisualizer;
 #define PCLColorHandlerGenericField \
   pcl::visualization::PointCloudColorHandlerGenericField
 
-template <typename PointT>
-void DrawPointCloud(const pcl::PointCloud<PointT>& cloud, const Color& color,
-                    const std::string& id, PCLVisualizer* const viewer,
-                    int pt_size = 3) {
-  PCLColorHandlerCustom<PointT> color_handler(cloud.makeShared(), color.r,
-                                              color.g, color.b);
-  viewer->addPointCloud<PointT>(cloud.makeShared(), color_handler, id);
+template <typename PointType>
+void AddPointCloud(const typename pcl::PointCloud<PointType>::ConstPtr& cloud,
+                   const Color& color, const std::string& id,
+                   PCLVisualizer* const viewer, int point_size = 3) {
+  PCLColorHandlerCustom<PointType> color_handler(cloud, color.r, color.g,
+                                                 color.b);
+  viewer->addPointCloud<PointType>(cloud, color_handler, id);
   viewer->setPointCloudRenderingProperties(
-      pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pt_size, id);
+      pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size, id);
 }
 
-template <typename PointT>
-void DrawPointCloud(const pcl::PointCloud<PointT>& cloud,
-                    const std::string& field, const std::string& id,
-                    PCLVisualizer* const viewer, int pt_size = 3) {
-  PCLColorHandlerGenericField<PointT> color_handler(cloud.makeShared(), field);
-  viewer->addPointCloud<PointT>(cloud.makeShared(), color_handler, id);
+template <typename PointType>
+void AddPointCloud(const typename pcl::PointCloud<PointType>::ConstPtr& cloud,
+                   const std::string& field, const std::string& id,
+                   PCLVisualizer* const viewer, int point_size = 3) {
+  PCLColorHandlerGenericField<PointType> color_handler(cloud, field);
+  viewer->addPointCloud<PointType>(cloud, color_handler, id);
   viewer->setPointCloudRenderingProperties(
-      pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pt_size, id);
+      pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size, id);
 }
 
-template <typename PointT>
-void DrawLine(const PointT& pt1, const PointT& pt2, const Color& color,
-              const std::string& id, PCLVisualizer* const viewer) {
+template <typename PointType>
+void AddLine(const PointType& pt1, const PointType& pt2, const Color& color,
+             const std::string& id, PCLVisualizer* const viewer) {
   viewer->addLine(pt1, pt2, color.r, color.g, color.b, id);
 }