diff --git a/.gitignore b/.gitignore
index 9440013..7e86002 100644
--- a/.gitignore
+++ b/.gitignore
@@ -33,4 +33,5 @@
 *.app
 
 # BUILD
-./build/*
+build/
+.cache/
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 253aa70..e23fea0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.10)
 project(armor_detector_mdv)
 
 # Set C++ standard
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 # Find OpenCV package
@@ -10,21 +10,20 @@ find_package(OpenCV REQUIRED)
 
 # Include OpenCV headers
 include_directories(${OpenCV_INCLUDE_DIRS})
-
-# Include MindVision SDK headers (请根据实际SDK路径调整)
-# 由于MindVision SDK在WSL中，需要在WSL环境下编译
-include_directories("/home/lld/mdv/include")
+include_directories(~/code/cpp/Catalyst-MDVS/inc)
+include_directories(/usr/include)
+include_directories(/usr/include/opencv4/opencv2/imgproc)
 
 # Add executable for MindVision version
 add_executable(armor_detector_mdv
-    main.cpp
-    MindVisionCamera.cpp
-    ImagePreprocessor.cpp
-    ArmorDetector.cpp
-    KalmanFilter.cpp
-    Visualizer.cpp
-    BallisticPredictor.cpp
-    TTLCommunicator.cpp
+    src/main.cpp
+    src/MindVisionCamera.cpp
+    src/ImagePreprocessor.cpp
+    src/ArmorDetector.cpp
+    src/KalmanFilter.cpp
+    src/Visualizer.cpp
+    src/BallisticPredictor.cpp
+    src/TTLCommunicator.cpp
 )
 
 # Link OpenCV libraries
@@ -32,7 +31,7 @@ target_link_libraries(armor_detector_mdv ${OpenCV_LIBS})
 
 # Link MindVision SDK library (路径需要根据实际情况调整)
 # 根据提供的Makefile，库名应该是MVSDK
-link_directories("/home/lld/mdv/lib/x86")
+link_directories("/lib")
 target_link_libraries(armor_detector_mdv MVSDK)
 
 # Additional flags for better compilation
diff --git a/conanfile.txt b/conanfile.txt
new file mode 100644
index 0000000..e69de29
diff --git a/ArmorDetector.h b/inc/ArmorDetector.h
similarity index 100%
rename from ArmorDetector.h
rename to inc/ArmorDetector.h
diff --git a/BallisticPredictor.h b/inc/BallisticPredictor.h
similarity index 100%
rename from BallisticPredictor.h
rename to inc/BallisticPredictor.h
diff --git a/Camera.h b/inc/Camera.h
similarity index 100%
rename from Camera.h
rename to inc/Camera.h
diff --git a/ImagePreprocessor.h b/inc/ImagePreprocessor.h
similarity index 100%
rename from ImagePreprocessor.h
rename to inc/ImagePreprocessor.h
diff --git a/KalmanFilter.h b/inc/KalmanFilter.h
similarity index 100%
rename from KalmanFilter.h
rename to inc/KalmanFilter.h
diff --git a/MindVisionCamera.h b/inc/MindVisionCamera.h
similarity index 100%
rename from MindVisionCamera.h
rename to inc/MindVisionCamera.h
diff --git a/TTLCommunicator.h b/inc/TTLCommunicator.h
similarity index 100%
rename from TTLCommunicator.h
rename to inc/TTLCommunicator.h
diff --git a/Visualizer.h b/inc/Visualizer.h
similarity index 100%
rename from Visualizer.h
rename to inc/Visualizer.h
diff --git a/config.h b/inc/config.h
similarity index 100%
rename from config.h
rename to inc/config.h
diff --git a/ArmorDetector.cpp b/src/ArmorDetector.cpp
similarity index 99%
rename from ArmorDetector.cpp
rename to src/ArmorDetector.cpp
index 4591f86..594c3c0 100644
--- a/ArmorDetector.cpp
+++ b/src/ArmorDetector.cpp
@@ -1,5 +1,4 @@
 #include "ArmorDetector.h"
-#include <iostream>
 #include <cmath>
 #include <algorithm>
 
diff --git a/BallisticPredictor.cpp b/src/BallisticPredictor.cpp
similarity index 100%
rename from BallisticPredictor.cpp
rename to src/BallisticPredictor.cpp
diff --git a/Camera.cpp b/src/Camera.cpp
similarity index 98%
rename from Camera.cpp
rename to src/Camera.cpp
index 44fb3d0..e053829 100644
--- a/Camera.cpp
+++ b/src/Camera.cpp
@@ -12,7 +12,7 @@ Camera::Camera(int cam_id, const std::string& target_color) {
     cap.set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc('M', 'J', 'P', 'G'));
     cap.set(cv::CAP_PROP_FRAME_WIDTH, 640);
     cap.set(cv::CAP_PROP_FRAME_HEIGHT, 480);
-    cap.set(cv::CAP_PROP_FPS, 100)
+    cap.set(cv::CAP_PROP_FPS, 100);
 
     is_opened = true;
     this->target_color = target_color;
diff --git a/ImagePreprocessor.cpp b/src/ImagePreprocessor.cpp
similarity index 98%
rename from ImagePreprocessor.cpp
rename to src/ImagePreprocessor.cpp
index 3ad813c..1df2587 100644
--- a/ImagePreprocessor.cpp
+++ b/src/ImagePreprocessor.cpp
@@ -1,5 +1,4 @@
 #include "ImagePreprocessor.h"
-#include <algorithm>
 #include <cctype>
 
 ImagePreprocessor::ImagePreprocessor() {
diff --git a/KalmanFilter.cpp b/src/KalmanFilter.cpp
similarity index 98%
rename from KalmanFilter.cpp
rename to src/KalmanFilter.cpp
index 7378a3e..3bdbc12 100644
--- a/KalmanFilter.cpp
+++ b/src/KalmanFilter.cpp
@@ -1,6 +1,5 @@
 #include "KalmanFilter.h"
 #include "config.h"
-#include <iostream>
 
 KalmanFilter::KalmanFilter() {
     // 4 state variables (x, y, dx, dy), 2 measurements (x, y)
diff --git a/MindVisionCamera.cpp b/src/MindVisionCamera.cpp
similarity index 100%
rename from MindVisionCamera.cpp
rename to src/MindVisionCamera.cpp
diff --git a/MindVisionMain.cpp b/src/MindVisionMain.cpp
similarity index 98%
rename from MindVisionMain.cpp
rename to src/MindVisionMain.cpp
index a0e0a2c..8ec340b 100644
--- a/MindVisionMain.cpp
+++ b/src/MindVisionMain.cpp
@@ -3,7 +3,6 @@
 #include <vector>
 #include <chrono>
 #include <thread>
-#include <memory>
 
 #include <opencv2/opencv.hpp>
 
@@ -51,7 +50,7 @@ void output_control_data(const cv::Point2f* ballistic_point,
     }
 }
 
-void set_camera_resolution(MindVisionCamera& camera, int width, int height) {
+void set_camera_resolution(MindVisionCamera& , int width, int height) {
     // The resolution is set during camera initialization in MindVision
     // We need to implement a method in MindVisionCamera to change resolution
     // For now, we'll just log the intended change
diff --git a/TTLCommunicator.cpp b/src/TTLCommunicator.cpp
similarity index 100%
rename from TTLCommunicator.cpp
rename to src/TTLCommunicator.cpp
diff --git a/Visualizer.cpp b/src/Visualizer.cpp
similarity index 100%
rename from Visualizer.cpp
rename to src/Visualizer.cpp
diff --git a/main.cpp b/src/main.cpp
similarity index 98%
rename from main.cpp
rename to src/main.cpp
index 81bc2d8..0f54447 100644
--- a/main.cpp
+++ b/src/main.cpp
@@ -3,7 +3,6 @@
 #include <vector>
 #include <chrono>
 #include <thread>
-#include <memory>
 
 #include <opencv2/opencv.hpp>
 
@@ -117,10 +116,10 @@ int main(int /*argc*/, char* /*argv*/[]) {
     cv::Mat frame;
     try {
         while (true) {
-            if (!camera.read_frame(frame)) {
-                std::cout << "Cannot read from MindVision camera, exiting!" << std::endl;
-                break;
-            }
+            //if (!camera.read_frame(frame)) {
+            //    std::cout << "Cannot read from MindVision camera, exiting!" << std::endl;
+            //    break;
+            //}
 
             // Get actual image size and calculate center
             cv::Point2f img_center(frame.cols / 2.0f, frame.rows / 2.0f);