diff --git a/Cpp_example/C08_Apriltag/CMakeLists.txt b/Cpp_example/C08_Apriltag/CMakeLists.txt
index bace036d46e80a61e62df7b123e1a10ae6c787d7..9e43592d901c5377ba06706726a570d6c58c38a6 100644
--- a/Cpp_example/C08_Apriltag/CMakeLists.txt
+++ b/Cpp_example/C08_Apriltag/CMakeLists.txt
@@ -25,18 +25,31 @@ find_library(APRILTAG_LIB NAMES apriltag PATHS ${APRILTAG_LIB_DIR} REQUIRED)
 # include_directories("${PROJECT_ROOT_PATH}/third_party/eigen-master/")
 include_directories("${PROJECT_ROOT_PATH}/third_party/apriltag-with-pose-estimation-master")
 
-# 设置 Eigen 路径
-set(EIGEN_ROOT_DIR "${PROJECT_ROOT_PATH}/third_party/eigen-master")
+# 定义 Eigen 路径
+set(Eigen_ROOT_PATH "${PROJECT_ROOT_PATH}/third_party/lockzhiner_vision_module_sdk/third_party/eigen")
+set(Eigen_DIR "${Eigen_ROOT_PATH}/include/eigen3/")
 
 # 添加头文件搜索路径
 include_directories(
-    ${EIGEN_ROOT_DIR}
+    ${Eigen_DIR}
     ${LOCKZHINER_VISION_MODULE_INCLUDE_DIRS}
     ${PROJECT_SOURCE_DIR}
 )
 
+
 # 创建可执行文件
 add_executable(Test_Apriltag Apriltag.cc)
+# 告诉 Eigen 使用最大 8 字节对齐（armv7l 平台限制）
+target_compile_definitions(Test_Apriltag PRIVATE EIGEN_MAX_ALIGN_BYTES=8)
+add_definitions(-DEIGEN_MAX_ALIGN_BYTES=8)
+
+# 消除 Eigen 的 alignment 警告
+target_compile_definitions(Test_Apriltag PRIVATE EIGEN_MAX_ALIGN_BYTES=8)
+
+# 可选：关闭 attributes 警告
+target_compile_options(Test_Apriltag PRIVATE -Wno-attributes)
+
+
 
 # 链接库文件
 target_link_libraries(Test_Apriltag
diff --git a/Cpp_example/D13_target_tracking/README.md b/Cpp_example/D13_target_tracking/README.md
index 462ebbcff6c9cbc218e67b5e0eb8f5f15fddf73e..96f01ad1be1cbe893cec01a202058208d6ee111c 100755
--- a/Cpp_example/D13_target_tracking/README.md
+++ b/Cpp_example/D13_target_tracking/README.md
@@ -1,4 +1,4 @@
-# 多目标跟踪我能当
+# 多目标跟踪
 
 本文档介绍了如何使用 lockzhiner_vision_module 库结合卡尔曼滤波和匈牙利算法实现多目标跟踪系统。
 
diff --git a/Cpp_example/T01_jsoncpp/CMakeLists.txt b/Cpp_example/T01_jsoncpp/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..70c426e28c91a9121883ffd653dc44b7d33ebb5d
--- /dev/null
+++ b/Cpp_example/T01_jsoncpp/CMakeLists.txt
@@ -0,0 +1,40 @@
+cmake_minimum_required(VERSION 3.10)
+
+project(jsontest)
+
+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 "${LockzhinerVisionModule_ROOT_PATH}/lib/cmake/lockzhiner_vision_module")
+find_package(LockzhinerVisionModule REQUIRED)
+
+
+# 定义 jsoncpp 路径
+set(JSONCPP_ROOT_PATH "${PROJECT_ROOT_PATH}/third_party/lockzhiner_vision_module_sdk/third_party/jsoncpp")
+set(JSONCPP_INCLUDE_DIRS "${JSONCPP_ROOT_PATH}/include/")
+set(JSONCPP_LIBRARIES "${JSONCPP_ROOT_PATH}/lib/libjsoncpp.a")
+
+message("JSONCPP_INCLUDE_DIRS = " ${JSONCPP_INCLUDE_DIRS})
+
+add_executable(jsontest jsontest.cc)
+target_include_directories(jsontest PRIVATE ${LOCKZHINER_VISION_MODULE_INCLUDE_DIRS} ${JSONCPP_INCLUDE_DIRS})
+target_link_libraries(jsontest PRIVATE ${OPENCV_LIBRARIES} ${LOCKZHINER_VISION_MODULE_LIBRARIES} ${JSONCPP_LIBRARIES})
+
+install(
+    TARGETS jsontest
+    RUNTIME DESTINATION .  
+)
\ No newline at end of file
diff --git a/Cpp_example/T01_jsoncpp/README.md b/Cpp_example/T01_jsoncpp/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..85720038c427463dcae954cde1d2bf3dcdabe8dd
--- /dev/null
+++ b/Cpp_example/T01_jsoncpp/README.md
@@ -0,0 +1,34 @@
+# jsoncpp 测试例程
+## 简介
+
+JSON 是一种轻量级数据交换格式。它可以表示数据、字符串、有序的值序列以及名称/值对的集合。
+
+jsoncpp 是一个 C++ 库，允许操作 JSON 值，包括字符串之间的序列化和反序列化。它还可以在反序列化/序列化步骤中保留现有注释，使其成为存储用户输入文件的方便格式。
+
+JsonCpp 目前在 github 上托管。为方便使用将改项目继承到 SDk 中。
+
+官方网址：https://github.com/open-source-parsers/jsoncpp
+
+## 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 ./jsontest
+./jsontest + 具体的任务
+```
\ No newline at end of file
diff --git a/Cpp_example/T01_jsoncpp/images/E02.png b/Cpp_example/T01_jsoncpp/images/E02.png
new file mode 100644
index 0000000000000000000000000000000000000000..b71a6c4ffc10b2dfc86fc22ca76542967818bf78
Binary files /dev/null and b/Cpp_example/T01_jsoncpp/images/E02.png differ
diff --git a/Cpp_example/T01_jsoncpp/jsontest.cc b/Cpp_example/T01_jsoncpp/jsontest.cc
new file mode 100644
index 0000000000000000000000000000000000000000..31db4927ae56acf746ff9c82b32b7f8c5c15c939
--- /dev/null
+++ b/Cpp_example/T01_jsoncpp/jsontest.cc
@@ -0,0 +1,154 @@
+#include "json/json.h"
+#include <iostream>
+#include <fstream>
+#include <sstream>
+#include <memory>
+
+// 打印帮助信息
+void printUsage(const std::string& progName) {
+    std::cout << "Usage: " << progName << " [option]\n";
+    std::cout << "Options:\n";
+    std::cout << "  write      - Write sample JSON to stdout\n";
+    std::cout << "  writestr   - Write JSON to string\n";
+    std::cout << "  readstr    - Read JSON from string\n";
+    std::cout << "  writefile  - Write JSON to file (example.json)\n";
+    std::cout << "  readfile   - Read JSON from file (example.json)\n";
+}
+
+// 将 Json::Value 转换为字符串输出
+std::string writeToJsonString(const Json::Value& root) {
+    Json::StreamWriterBuilder builder;
+    std::ostringstream oss;
+    std::unique_ptr<Json::StreamWriter> writer(builder.newStreamWriter());
+    writer->write(root, &oss);
+    return oss.str();
+}
+
+// 构建一个测试用的 JSON 对象
+Json::Value createSampleJson() {
+    Json::Value root;
+    root["Name"] = "robin";
+    root["Age"] = 20;
+
+    Json::Value hobbies(Json::arrayValue);
+    hobbies.append("reading");
+    hobbies.append("coding");
+    hobbies.append("hiking");
+
+    root["Hobbies"] = hobbies;
+
+    Json::Value address;
+    address["City"] = "Beijing";
+    address["ZipCode"] = "100000";
+    root["Address"] = address;
+
+    return root;
+}
+
+// 从字符串解析 JSON
+bool parseJsonFromString(const std::string& jsonStr, Json::Value& root) {
+    Json::CharReaderBuilder builder;
+    std::string errs;
+    std::istringstream jsonStream(jsonStr);
+    bool ok = Json::parseFromStream(builder, jsonStream, &root, nullptr);
+    if (!ok) {
+        std::cerr << "Failed to parse JSON string." << std::endl;
+        return false;
+    }
+    return true;
+}
+
+// 写入 JSON 到文件
+bool writeJsonToFile(const std::string& filename, const Json::Value& root) {
+    std::ofstream ofs(filename);
+    if (!ofs.is_open()) {
+        std::cerr << "Failed to open file for writing: " << filename << std::endl;
+        return false;
+    }
+
+    Json::StreamWriterBuilder builder;
+    std::unique_ptr<Json::StreamWriter> writer(builder.newStreamWriter());
+    writer->write(root, &ofs);
+    ofs.close();
+    return true;
+}
+
+// 从文件读取 JSON
+bool readJsonFromFile(const std::string& filename, Json::Value& root) {
+    std::ifstream ifs(filename);
+    if (!ifs.is_open()) {
+        std::cerr << "Failed to open file for reading: " << filename << std::endl;
+        return false;
+    }
+
+    // 使用 JsonCpp 提供的 parseFromStream 方法更简洁
+    Json::CharReaderBuilder builder;
+    std::string errs;
+    bool ok = Json::parseFromStream(builder, ifs, &root, nullptr);
+    ifs.close();
+
+    if (!ok) {
+        std::cerr << "Failed to parse JSON from file." << std::endl;
+        return false;
+    }
+
+    return true;
+}
+
+int main(int argc, char* argv[]) {
+    std::string operation = "write"; // 默认操作
+    if (argc > 1) {
+        operation = argv[1];
+    } else {
+        printUsage(argv[0]);
+        return EXIT_FAILURE;
+    }
+
+    if (operation == "write") {
+        // 直接写入到 stdout
+        Json::Value root = createSampleJson();
+        std::cout << "=== Writing JSON to stdout ===\n";
+        std::cout << writeToJsonString(root) << std::endl;
+
+    } else if (operation == "writestr") {
+        // 写入 JSON 到字符串
+        Json::Value root = createSampleJson();
+        std::string jsonStr = writeToJsonString(root);
+        std::cout << "=== JSON as string ===\n" << jsonStr << std::endl;
+
+    } else if (operation == "readstr") {
+        // 测试从字符串解析 JSON
+        std::string jsonStr = R"({"Name":"jack","Age":30,"Hobbies":["music","travel"],"Address":{"City":"Shanghai"}})";
+        Json::Value root;
+        if (parseJsonFromString(jsonStr, root)) {
+            std::cout << "=== Parsed JSON from string ===\n";
+            std::cout << "Name: " << root["Name"].asString() << "\n";
+            std::cout << "Age: " << root["Age"].asInt() << "\n";
+            std::cout << "First Hobby: " << root["Hobbies"][0].asString() << "\n";
+            std::cout << "City: " << root["Address"]["City"].asString() << "\n";
+        }
+
+    } else if (operation == "writefile") {
+        // 写入 JSON 到文件
+        Json::Value root = createSampleJson();
+        if (writeJsonToFile("example.json", root)) {
+            std::cout << "JSON written to example.json\n";
+        }
+
+    } else if (operation == "readfile") {
+        // 从文件中读取并解析 JSON
+        Json::Value root;
+        if (readJsonFromFile("example.json", root)) {
+            std::cout << "=== Read JSON from file ===\n";
+            std::cout << "Name: " << root["Name"].asString() << "\n";
+            std::cout << "Age: " << root["Age"].asInt() << "\n";
+            std::cout << "City: " << root["Address"]["City"].asString() << "\n";
+        }
+
+    } else {
+        printUsage(argv[0]);
+        return EXIT_FAILURE;
+    }
+
+    return EXIT_SUCCESS;
+}
\ No newline at end of file
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
diff --git a/F&Q/faq.md b/F&Q/faq.md
new file mode 100644
index 0000000000000000000000000000000000000000..8d2e919818711df2a43e1ad3409a4ffa147685b7
--- /dev/null
+++ b/F&Q/faq.md
@@ -0,0 +1,90 @@
+# 凌智视觉模块F&Q文档
+
+## 环境搭建
+
+1、环境拉取
+
+```markdown
+git clone https://gitee.com/LockzhinerAI/arm-rockchip830-linux-uclibcgnueabihf.git
+Cloning into 'arm-rockchip830-linux-uclibcgnueabihf'...fatal: unable to access 'https://gitee.com/LockzhinerAI/arm-rockchip830-linux-uclibcgnueabihf.git/': could not resolvehost: gitee.com
+```
+
+如果出现以上问题，将对应的**文件夹删除**，然后重新执行git clone 命令
+
+2、环境已经存在
+
+```bash
+git clone https://gitee.com/LockzhinerAI/arm-rockchip830-linux-uclibcgnueabihf.gitfatal: destination path 'arm-rockchip830-linux-uclibcgnueabihf' already exists and is not an empty directory.
+```
+
+出现该提示，表示文件已经存在，如果需要重新拉去，需要将改文件夹删除
+
+3、三方依赖库不全
+
+![](./images/missingfile.jpg)
+
+如果出现出现该情况，请根据教程进行重新拉取三方库
+
+##  设备使用
+
+1、摄像头的基本使用
+
+本模块在使用时，需要配合程序使用，如果**直接**连接摄像头后，想要直接打开可视化软件是不可行的
+
+2、代理问题
+
+如果出现该提示
+
+![](./images/agent.jpg)
+
+请关闭本机的代理软件（如校园网的vpn等）
+
+3、发热问题
+
+发热的时候或者有其他硬件故障的话，请联系我们，不要尝试自己维修。摄像头发热是正常现象，最高温度会有60左右，摸起来会略微烫手
+
+4、远程支持
+
+如果需要远程支持，请下载最新版的 **todesk** ,同时确保网络畅通
+
+5、IP 配置
+
+**gitee** 上面的文档虽然任然写着需要配置文档，但目前的镜像不需要进行配置**IP**，可以直接连接使用，不需要配置 IP， 留有 **IP** 设置的原因是以防万一，避免不同设备的兼容性问题。
+
+6、VScode 连接 Docker
+
+在完成基础环境搭建后，如果说需要进行 **c++** 开发，推荐使用vscode 连接 docker, **VScode** docker 插件安装方式：
+
+打开 vscode 的拓展可以使用快捷键（Ctrl+Shift+X）下载 Docker 、Remote - SSH  、Remote - SSH: Editing Config 、Remote Explorer 等插件
+
+启动容器
+
+![](./images/docker1.jpg)
+
+进入容器
+
+![](./images/docker2.jpg)
+
+切换工作目录
+
+![](./images/config.jpg)
+
+6、进程查看
+
+进程查看工具可以使用 top / htop
+
+在使用该工具时颜色可能会有变化，属于正常现象
+
+7、自启动设置
+
+如果有设置自启动脚本并使用摄像头，在终端想要使用摄像头时需要将原有进程杀死。
+
+## 程序编译
+
+1、cpp 程序编译
+
+```bash
+自己写的文件保存了，然后在自己文件这一栏右键打开终端然后生成可执行文件，但是它一直是生成的标准历程里的可执行文件
+```
+
+请根据**自定义文件名**修改cmak,如果不知到如何修改的话，可以拷贝一个例程，不修改文件名，只修改里面的内容（同时如果需要视觉功能最好使用E或D例程进行替换可以减少写cmake的麻烦）
\ No newline at end of file
diff --git a/F&Q/images/agent.jpg b/F&Q/images/agent.jpg
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diff --git a/F&Q/images/docker1.jpg b/F&Q/images/docker1.jpg
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diff --git a/F&Q/images/docker2.jpg b/F&Q/images/docker2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cf9a4b08eff4ab4286341a42889df0231254ae12
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diff --git a/F&Q/images/missingfile.jpg b/F&Q/images/missingfile.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..404f12e9c526e080d5c5452366630ae8a516f3fd
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diff --git a/README.md b/README.md
index 81dccb341ab0bca255203b82e62f1cb1082efcc3..d2fdd63629d385c643fc94b13af846941db87d30 100644
--- a/README.md
+++ b/README.md
@@ -62,6 +62,10 @@
 * [凌智视觉模块 C++ 开发环境搭建指南](./docs/introductory_tutorial/cpp_development_environment.md)
 * [基于 C++ 编写 Hello World 程序](./example/hello_world) 
 -->
+## 💡 F&Q
+
+在使用过程中，如果遇到问题，请先查看 [FAQ](./F&Q/faq.md)，如果问题没有解决，请提 issue。
+
 
 ## 💡 自启动设置
 [自启动脚本设置](./docs/自启动设置.md),设置完后可以说使得视觉模块脱机运行
diff --git a/docs/introductory_tutorial/cpp_development_environment.md b/docs/introductory_tutorial/cpp_development_environment.md
index aebb9c69746fb92994ad693aa93d5810fd3f5604..2f1f11d59e8b4cfbe0ac0d9b429dba56f652e7c5 100644
--- a/docs/introductory_tutorial/cpp_development_environment.md
+++ b/docs/introductory_tutorial/cpp_development_environment.md
@@ -248,9 +248,19 @@ rm -rf apriltag-with-pose-estimation-master.zip
 wget https://gitee.com/LockzhinerAI/apriltag-with-pose-estimation-master/releases/download/apriltag-with-pose-estimation-master/apriltag-with-pose-estimation-master.zip
 unzip -qo apriltag-with-pose-estimation-master.zip -d third_party
 # 下载 eigen
-rm -rf eigen-master.zip
-wget https://gitee.com/LockzhinerAI/eigen-master/releases/download/v0.1/eigen-master.zip
-unzip -qo eigen-master.zip -d third_party
+rm -rf eigen.zip
+wget https://gitee.com/LockzhinerAI/eigen-master/releases/download/v0.1/eigen.zip
+unzip -qo eigen.zip -d third_party
+
+# 下载 jsoncpp
+rm -rf jsoncpp.zip
+wget https://gitee.com/LockzhinerAI/jsoncpp/releases/download/v0.1/jsoncpp.zip
+unzip -qo jsoncpp.zip -d third_party
+
+# 下载 opus
+rm -rf opus-v1.5.2.zip
+wget https://gitee.com/LockzhinerAI/opus/releases/download/v0.1/opus-v1.5.2.zip
+unzip -qo opus-v1.5.2.zip -d third_party
 ```
 
 ### 6.5 下载/更新 LockzhinerVisionModule SDK
diff --git a/toolchains/arm-rockchip830-linux-uclibcgnueabihf.toolchain.cmake b/toolchains/arm-rockchip830-linux-uclibcgnueabihf.toolchain.cmake
index 4442bf2181af6784b93cbe9bcf14756f0245d608..ab1ecd61e240522a74645e4df02da08ab75d5b46 100644
--- a/toolchains/arm-rockchip830-linux-uclibcgnueabihf.toolchain.cmake
+++ b/toolchains/arm-rockchip830-linux-uclibcgnueabihf.toolchain.cmake
@@ -22,3 +22,4 @@ set(CMAKE_CXX_FLAGS "-march=armv7-a -mfloat-abi=hard -mfpu=neon")
 # cache flags
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}" CACHE STRING "c flags")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}" CACHE STRING "c++ flags")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-psabi")
\ No newline at end of file