diff --git a/Cpp_example/T02_eigen/CMakeLists.txt b/Cpp_example/T02_eigen/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c08433ddc69da86f1cb8a24e0fed074f4ee0ad45
--- /dev/null
+++ b/Cpp_example/T02_eigen/CMakeLists.txt
@@ -0,0 +1,46 @@
+cmake_minimum_required(VERSION 3.10)
+
+project(eigen_test)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# 定义项目根目录路径
+set(PROJECT_ROOT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../..")
+message("PROJECT_ROOT_PATH = " ${PROJECT_ROOT_PATH})
+
+include("${PROJECT_ROOT_PATH}/toolchains/arm-rockchip830-linux-uclibcgnueabihf.toolchain.cmake")
+
+# 定义 OpenCV SDK 路径
+set(OpenCV_ROOT_PATH "${PROJECT_ROOT_PATH}/third_party/opencv-mobile-4.10.0-lockzhiner-vision-module")
+set(OpenCV_DIR "${OpenCV_ROOT_PATH}/lib/cmake/opencv4")
+find_package(OpenCV REQUIRED)
+set(OPENCV_LIBRARIES "${OpenCV_LIBS}")
+
+# 定义 LockzhinerVisionModule SDK 路径
+set(LockzhinerVisionModule_ROOT_PATH "${PROJECT_ROOT_PATH}/third_party/lockzhiner_vision_module_sdk")
+set(LockzhinerVisionModule_DIR "${LockzhinerVisionModule_ROOT_PATH}/lib/cmake/lockzhiner_vision_module")
+find_package(LockzhinerVisionModule REQUIRED)
+
+
+# 定义 Eigen 路径
+set(Eigen_ROOT_PATH "${PROJECT_ROOT_PATH}/third_party/lockzhiner_vision_module_sdk/third_party/eigen")
+set(Eigen_DIR "${Eigen_ROOT_PATH}/include/eigen3/")
+
+message("Eigen_DIR = " ${Eigen_DIR})
+
+
+
+add_executable(eigen_test eigentest.cc)
+target_include_directories(eigen_test PRIVATE ${LOCKZHINER_VISION_MODULE_INCLUDE_DIRS} ${Eigen_DIR})
+target_link_libraries(eigen_test PRIVATE ${OPENCV_LIBRARIES} ${LOCKZHINER_VISION_MODULE_LIBRARIES} )
+# 告诉 Eigen 使用最大 8 字节对齐（armv7l 平台限制）
+target_compile_definitions(eigen_test PRIVATE EIGEN_MAX_ALIGN_BYTES=8)
+# 如果你不需要 Eigen 的 SIMD 加速（在嵌入式平台上有时反而会拖慢性能），具体怎样还没有测试，请自行测试
+target_compile_definitions(eigen_test PRIVATE EIGEN_DONT_VECTORIZE)
+
+
+install(
+    TARGETS eigen_test
+    RUNTIME DESTINATION .  
+)
\ No newline at end of file
diff --git a/Cpp_example/T02_eigen/README.md b/Cpp_example/T02_eigen/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..d35b21e281635397abcc8c151547d0d3379714bd
--- /dev/null
+++ b/Cpp_example/T02_eigen/README.md
@@ -0,0 +1,29 @@
+# eigen 测试例程
+## 简介
+
+Eigen是一个用于线性运算的C++ 模板库，支持 矩阵和矢量运算，数值分析及其相关的算法。
+
+
+## 编译项目
+
+使用 Docker Destop 打开 LockzhinerVisionModule 容器并执行以下命令来编译项目
+
+```bash
+# 进入Demo所在目录
+cd /LockzhinerVisionModuleWorkSpace/LockzhinerVisionModule/Cpp_example/E01_find_number
+# 创建编译目录
+rm -rf build && mkdir build && cd build
+# 配置交叉编译工具链
+export TOOLCHAIN_ROOT_PATH="/LockzhinerVisionModuleWorkSpace/arm-rockchip830-linux-uclibcgnueabihf"
+# 使用cmake配置项目
+cmake ..
+# 执行编译项目
+make -j8 && make install
+```
+
+在执行完上述命令后，会在build目录下生成可执行文件。
+拷贝到视觉模块上运行：
+```bash
+chmod 777 ./eigen_test
+./eigen_test
+```
\ No newline at end of file
diff --git a/Cpp_example/T02_eigen/eigentest.cc b/Cpp_example/T02_eigen/eigentest.cc
new file mode 100644
index 0000000000000000000000000000000000000000..c4f709b758e2efd19ca040ba9a3f4d85ca637d96
--- /dev/null
+++ b/Cpp_example/T02_eigen/eigentest.cc
@@ -0,0 +1,28 @@
+#include <iostream>
+#include <Eigen/Dense>  // Eigen 的核心模块
+
+int main() {
+    // 声明两个 3x3 矩阵
+    Eigen::Matrix3f matA;
+    Eigen::Matrix3f matB;
+
+    // 初始化矩阵 A
+    matA << 1, 2, 3,
+            4, 5, 6,
+            7, 8, 9;
+
+    // 初始化矩阵 B
+    matB << 2, 0, 0,
+            0, 2, 0,
+            0, 0, 2;
+
+    std::cout << "Matrix A:\n" << matA << std::endl;
+    std::cout << "Matrix B:\n" << matB << std::endl;
+
+    // 矩阵相乘
+    Eigen::Matrix3f result = matA * matB;
+
+    std::cout << "Result of A * B:\n" << result << std::endl;
+
+    return 0;
+}
\ No newline at end of file
diff --git a/Cpp_example/T03_opus/CMakeLists.txt b/Cpp_example/T03_opus/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..70034cafd473ce3e03bf81dfb7dca7114255e781
--- /dev/null
+++ b/Cpp_example/T03_opus/CMakeLists.txt
@@ -0,0 +1,40 @@
+cmake_minimum_required(VERSION 3.10)
+
+project(Opus)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# 定义项目根目录路径
+set(PROJECT_ROOT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../..")
+message("PROJECT_ROOT_PATH = " ${PROJECT_ROOT_PATH})
+
+include("${PROJECT_ROOT_PATH}/toolchains/arm-rockchip830-linux-uclibcgnueabihf.toolchain.cmake")
+
+# 定义 OpenCV SDK 路径
+set(OpenCV_ROOT_PATH "${PROJECT_ROOT_PATH}/third_party/opencv-mobile-4.10.0-lockzhiner-vision-module")
+set(OpenCV_DIR "${OpenCV_ROOT_PATH}/lib/cmake/opencv4")
+find_package(OpenCV REQUIRED)
+set(OPENCV_LIBRARIES "${OpenCV_LIBS}")
+
+# 定义 LockzhinerVisionModule SDK 路径
+set(LockzhinerVisionModule_ROOT_PATH "${PROJECT_ROOT_PATH}/third_party/lockzhiner_vision_module_sdk")
+set(LockzhinerVisionModule_DIR "${LockzhinerVisionModule_ROOT_PATH}/lib/cmake/lockzhiner_vision_module")
+find_package(LockzhinerVisionModule REQUIRED)
+
+# 定义 Opus 路径
+
+set(Opus_ROOT_PATH "${PROJECT_ROOT_PATH}/third_party/lockzhiner_vision_module_sdk/third_party/opus-v1.5.2")
+set(Opus_DIR "${Opus_ROOT_PATH}/include/opus/")
+set(Opus_LIBRARY_DIR "${Opus_ROOT_PATH}/lib/libopus.a")
+
+
+add_executable(Opus opus.cc)
+target_include_directories(Opus PRIVATE ${LOCKZHINER_VISION_MODULE_INCLUDE_DIRS} ${Opus_DIR})
+target_link_libraries(Opus PRIVATE ${OPENCV_LIBRARIES} ${LOCKZHINER_VISION_MODULE_LIBRARIES} ${Opus_LIBRARY_DIR})
+
+
+install(
+    TARGETS Opus
+    RUNTIME DESTINATION .  
+)
\ No newline at end of file
diff --git a/Cpp_example/T03_opus/README.md b/Cpp_example/T03_opus/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..fc67bd456b547cfc810dfe2d53d5b00f475bf9d1
--- /dev/null
+++ b/Cpp_example/T03_opus/README.md
@@ -0,0 +1,58 @@
+# Opus 测试例程
+## 简介
+
+Opus是一款完全开放、免版税、高度通用的音频编解码器。Opus在互联网上的交互式语音和音乐传输方面无与伦比，但也适用于存储和流媒体应用。它被互联网工程任务组（IETF）标准化为 RFC 6716，它结合了Skype的SILK编解码器和Xiph.Org的CELT编解码器的技术。
+
+Opus可以处理广泛的音频应用程序，包括IP语音、视频会议、游戏内聊天，甚至远程现场音乐表演。它可以从低比特率的窄带语音扩展到非常高质量的立体声音乐。支持的功能包括：
+
+比特率从6 kb/s到510 kb/s
+
+采样率从8kHz（窄带）到48kHz（全频带）
+
+帧大小从2.5毫秒到60毫秒
+
+支持恒定比特率（CBR）和可变比特率（VBR）
+
+从窄带到全频带的音频带宽
+
+支持语音和音乐
+
+支持单声道和立体声
+
+最多支持255个通道（多流帧）
+
+可动态调整的比特率、音频带宽和帧大小
+
+良好的丢失鲁棒性和丢包隐藏性（PLC）
+
+浮点和定点实现
+
+需要了解更多opus的内容，可以到opus官网：https://www.opus-codec.org 。
+
+
+
+## 编译项目
+
+使用 Docker Destop 打开 LockzhinerVisionModule 容器并执行以下命令来编译项目
+
+```bash
+# 进入Demo所在目录
+cd /LockzhinerVisionModuleWorkSpace/LockzhinerVisionModule/Cpp_example/E01_find_number
+# 创建编译目录
+rm -rf build && mkdir build && cd build
+# 配置交叉编译工具链
+export TOOLCHAIN_ROOT_PATH="/LockzhinerVisionModuleWorkSpace/arm-rockchip830-linux-uclibcgnueabihf"
+# 使用cmake配置项目
+cmake ..
+# 执行编译项目
+make -j8 && make install
+```
+
+## 下载执行
+
+在执行完上述命令后，会在build目录下生成可执行文件。
+拷贝到视觉模块上运行：
+```bash
+chmod 777 ./Opus
+./Opus <input.pcm> <output.pcm>
+```
\ No newline at end of file
diff --git a/Cpp_example/T03_opus/opus.cc b/Cpp_example/T03_opus/opus.cc
new file mode 100644
index 0000000000000000000000000000000000000000..0e998cfe2da52a2ba446583e1950cd88d028b766
--- /dev/null
+++ b/Cpp_example/T03_opus/opus.cc
@@ -0,0 +1,145 @@
+#include <iostream>
+#include <fstream>
+#include <string>
+extern "C" {
+#include <opus.h>
+}
+
+// 配置参数
+#define FRAME_SIZE 960       // 20ms frame at 48kHz
+#define SAMPLE_RATE 48000    // Sample rate (Hz)
+#define CHANNELS 1           // Mono
+#define APPLICATION OPUS_APPLICATION_AUDIO
+#define BITRATE 16000        // Bitrate in bps (语音推荐值)
+
+class OpusTest {
+public:
+    OpusTest() : encoder(nullptr), decoder(nullptr) {}
+    ~OpusTest();
+
+    bool init();
+    void run(const std::string& inputPath, const std::string& pcmOutputPath);
+
+private:
+    OpusEncoder* encoder;
+    OpusDecoder* decoder;
+
+    void handleErrors(const std::string& message, int errorCode = 0);
+};
+
+bool OpusTest::init() {
+    int error;
+
+    // 创建编码器
+    encoder = opus_encoder_create(SAMPLE_RATE, CHANNELS, APPLICATION, &error);
+    if (error != OPUS_OK || !encoder) {
+        handleErrors("Failed to create encoder", error);
+        return false;
+    }
+
+    // 设置比特率
+    opus_encoder_ctl(encoder, OPUS_SET_BITRATE(BITRATE));
+
+    // 创建解码器
+    decoder = opus_decoder_create(SAMPLE_RATE, CHANNELS, &error);
+    if (error != OPUS_OK || !decoder) {
+        handleErrors("Failed to create decoder", error);
+        return false;
+    }
+
+    return true;
+}
+
+void OpusTest::handleErrors(const std::string& message, int errorCode) {
+    std::cerr << message << std::endl;
+    if (errorCode != 0) {
+        std::cerr << "Error code: " << opus_strerror(errorCode) << std::endl;
+    }
+}
+
+void OpusTest::run(const std::string& inputPath, const std::string& pcmOutputPath) {
+    std::ifstream fin(inputPath, std::ios::binary);
+    std::ofstream fout(pcmOutputPath, std::ios::binary);
+    std::ofstream opusOut("output.opus", std::ios::binary);
+
+    if (!fin.is_open() || !fout.is_open() || !opusOut.is_open()) {
+        std::cerr << "Failed to open input/output file." << std::endl;
+        return;
+    }
+
+    opus_int16 pcmBuffer[FRAME_SIZE];
+    unsigned char encoded[1024];     // 编码缓冲区
+    opus_int16 decoded[FRAME_SIZE];  // 解码缓冲区
+
+    while (true) {
+        fin.read(reinterpret_cast<char*>(pcmBuffer), sizeof(pcmBuffer));
+        std::streamsize readBytes = fin.gcount();
+
+        if (readBytes <= 0)
+            break;
+
+        int samples = readBytes / sizeof(opus_int16);
+
+        // 编码
+        int encodedSize = opus_encode(encoder, pcmBuffer, samples, encoded, sizeof(encoded));
+        if (encodedSize < 0) {
+            handleErrors("Encoding failed", encodedSize);
+            continue;
+        }
+
+        // 写入 Opus 文件
+        opusOut.write(reinterpret_cast<char*>(encoded), encodedSize);
+
+        // 解码
+        int decodedSamples = opus_decode(decoder, encoded, encodedSize, decoded, FRAME_SIZE, 0);
+        if (decodedSamples < 0) {
+            handleErrors("Decoding failed", decodedSamples);
+            continue;
+        }
+
+        // 写入输出文件
+        fout.write(reinterpret_cast<char*>(decoded), decodedSamples * sizeof(opus_int16));
+    }
+
+    fin.close();
+    fout.close();
+    opusOut.close();
+
+    // 统计压缩率
+    std::ifstream finStat(inputPath, std::ios::binary);
+    finStat.seekg(0, std::ios::end);
+    size_t pcmSize = finStat.tellg();
+
+    std::ifstream opusStat("output.opus", std::ios::binary);
+    opusStat.seekg(0, std::ios::end);
+    size_t opusSize = opusStat.tellg();
+
+    double compressionRatio = (double)pcmSize / opusSize;
+
+    std::cout << "PCM file size: " << pcmSize << " bytes" << std::endl;
+    std::cout << "Opus file size: " << opusSize << " bytes" << std::endl;
+    std::cout << "Compression ratio: " << compressionRatio << "x" << std::endl;
+}
+
+OpusTest::~OpusTest() {
+    if (encoder) opus_encoder_destroy(encoder);
+    if (decoder) opus_decoder_destroy(decoder);
+}
+
+int main(int argc, char* argv[]) {
+    if (argc != 3) {
+        std::cerr << "Usage: " << argv[0] << " <input.pcm> <output.pcm>" << std::endl;
+        return -1;
+    }
+
+    OpusTest test;
+    if (!test.init()) {
+        std::cerr << "Initialization failed." << std::endl;
+        return -1;
+    }
+
+    test.run(argv[1], argv[2]);
+
+    std::cout << "Opus encode/decode test completed successfully." << std::endl;
+    return 0;
+}
\ No newline at end of file