diff --git a/LeGO-LOAM/CMakeLists.txt b/LeGO-LOAM/CMakeLists.txt
index efebe5b3..c7d62ba8 100755
--- a/LeGO-LOAM/CMakeLists.txt
+++ b/LeGO-LOAM/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(lego_loam)
 
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -O3")
 
 find_package(catkin REQUIRED COMPONENTS
   tf
@@ -23,6 +23,7 @@ find_package(catkin REQUIRED COMPONENTS
 find_package(GTSAM REQUIRED QUIET)
 find_package(PCL REQUIRED QUIET)
 find_package(OpenCV REQUIRED QUIET)
+find_package(Boost REQUIRED thread serialization timer chrono)
 
 catkin_package(
   INCLUDE_DIRS include
@@ -57,4 +58,4 @@ add_executable(mapOptmization src/mapOptmization.cpp)
 target_link_libraries(mapOptmization ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam)
 
 add_executable(transformFusion src/transformFusion.cpp)
-target_link_libraries(transformFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
\ No newline at end of file
+target_link_libraries(transformFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
diff --git a/LeGO-LOAM/include/utility.h b/LeGO-LOAM/include/utility.h
index 0c13827f..def4a9d8 100755
--- a/LeGO-LOAM/include/utility.h
+++ b/LeGO-LOAM/include/utility.h
@@ -10,7 +10,8 @@
 
 #include "cloud_msgs/cloud_info.h"
 
-#include <opencv/cv.h>
+//#include <opencv/cv.h>
+#include <opencv2/opencv.hpp>
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -60,12 +61,12 @@ extern const string fileDirectory = "/tmp/";
 extern const bool useCloudRing = true; // if true, ang_res_y and ang_bottom are not used
 
 // VLP-16
-extern const int N_SCAN = 16;
-extern const int Horizon_SCAN = 1800;
-extern const float ang_res_x = 0.2;
-extern const float ang_res_y = 2.0;
-extern const float ang_bottom = 15.0+0.1;
-extern const int groundScanInd = 7;
+// extern const int N_SCAN = 16;
+// extern const int Horizon_SCAN = 1800;
+// extern const float ang_res_x = 0.2;
+// extern const float ang_res_y = 2.0;
+// extern const float ang_bottom = 15.0+0.1;
+// extern const int groundScanInd = 7;
 
 // HDL-32E
 // extern const int N_SCAN = 32;
@@ -75,6 +76,14 @@ extern const int groundScanInd = 7;
 // extern const float ang_bottom = 30.67;
 // extern const int groundScanInd = 20;
 
+extern const int N_SCAN = 32;
+extern const int Horizon_SCAN = 220;
+extern const float ang_res_x = 360.0/float(Horizon_SCAN);
+extern const float ang_res_y = 41.33/float(N_SCAN-1);
+extern const float ang_bottom = 30.67;
+extern const int groundScanInd = 20;
+
+
 // VLS-128
 // extern const int N_SCAN = 128;
 // extern const int Horizon_SCAN = 1800;
diff --git a/LeGO-LOAM/launch/run.launch b/LeGO-LOAM/launch/run.launch
index 65a5a543..53f649e6 100755
--- a/LeGO-LOAM/launch/run.launch
+++ b/LeGO-LOAM/launch/run.launch
@@ -10,7 +10,10 @@
     <node pkg="tf" type="static_transform_publisher" name="camera_init_to_map"  args="0 0 0 1.570795   0        1.570795 /map    /camera_init 10" />
     <node pkg="tf" type="static_transform_publisher" name="base_link_to_camera" args="0 0 0 -1.570795 -1.570795 0        /camera /base_link   10" />
 
-    <!--- LeGO-LOAM -->    
+    <!--- LeGO-LOAM -->   
+    <remap from="velodyne_points" to="velodyne_points2"/>
+    <!-- <remap from="imu/data" to="imu"/> -->
+
     <node pkg="lego_loam" type="imageProjection"    name="imageProjection"    output="screen"/>
     <node pkg="lego_loam" type="featureAssociation" name="featureAssociation" output="screen"/>
     <node pkg="lego_loam" type="mapOptmization"     name="mapOptmization"     output="screen"/>