about the input to Suma

[Hello-Water]

Hello, thanks for your code releasing! I have some questions about the input to Suma:

1. Does the visualizer default to using config/default.xml and how can i change config file to another one (for example vlp16.xml)?
2. If I just only feed Lidar data to Suma (there is no calib.txt and other files) , when I execute Save Poses, is the pose in output file poses.txt referenced to the first frame of the Lidar data?