diff --git a/LeGO-LOAM/include/utility.h b/LeGO-LOAM/include/utility.h
index 0c13827f..5507ce3e 100755
--- a/LeGO-LOAM/include/utility.h
+++ b/LeGO-LOAM/include/utility.h
@@ -60,12 +60,20 @@ 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 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;
+
+//Vel 64
+extern const int N_SCAN = 64;
 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 float ang_res_y = 0.427;
+extern const float ang_bottom = 24.9;
+extern const int groundScanInd = 50;
 
 // HDL-32E
 // extern const int N_SCAN = 32;
diff --git a/LeGO-LOAM/src/mapOptmization.cpp b/LeGO-LOAM/src/mapOptmization.cpp
index 56088327..41851067 100755
--- a/LeGO-LOAM/src/mapOptmization.cpp
+++ b/LeGO-LOAM/src/mapOptmization.cpp
@@ -727,6 +727,32 @@ class mapOptimization{
             rate.sleep();
             publishGlobalMap();
         }
+
+        std::cout << "start save final point cloud" << std::endl;
+        std::cout << "======================================================" << std::endl;
+
+        ofstream f;
+        f.open("/home/roxaneqian/kitti_lego_loam/src/kitti-lego-loam-master/LeGO-LOAM/LeGO-LOAM/getfromcode/traj/myRes.txt");
+        f << fixed;
+        //std::cout << "traj roll" << cloudKeyPoses6D->points[0].roll << std::endl;
+        for(size_t i = 0;i < cloudKeyPoses3D->size();i++)
+        {
+            float cy = cos((cloudKeyPoses6D->points[i].yaw)*0.5);
+            float sy = sin((cloudKeyPoses6D->points[i].yaw)*0.5);
+            float cr = cos((cloudKeyPoses6D->points[i].roll)*0.5);
+            float sr = sin((cloudKeyPoses6D->points[i].roll)*0.5);
+            float cp = cos((cloudKeyPoses6D->points[i].pitch)*0.5);
+            float sp = sin((cloudKeyPoses6D->points[i].pitch)*0.5);
+
+            float w = cy * cp * cr + sy * sp * sr;
+            float x = cy * cp * sr - sy * sp * cr;
+            float y = sy * cp * sr + cy * sp * cr;
+            float z = sy * cp * cr - cy * sp * sr;
+            //save the traj
+            f << setprecision(6) << cloudKeyPoses6D->points[i].time << " " << setprecision(9) << cloudKeyPoses6D->points[i].x << " " << cloudKeyPoses6D->points[i].y << " " << cloudKeyPoses6D->points[i].z << " " << x << " " << y << " " << z << " " << w << endl;
+        }
+
+        f.close();
         // save final point cloud
         pcl::io::savePCDFileASCII(fileDirectory+"finalCloud.pcd", *globalMapKeyFramesDS);