diff --git a/src/YOLOv6/imgdir/test.jpg b/src/YOLOv6/imgdir/test.jpg
new file mode 100644
index 0000000..b2b3187
Binary files /dev/null and b/src/YOLOv6/imgdir/test.jpg differ
diff --git a/src/YOLOv6/runs/inference/exp/test.jpg b/src/YOLOv6/runs/inference/exp/test.jpg
new file mode 100644
index 0000000..1ddcf3c
Binary files /dev/null and b/src/YOLOv6/runs/inference/exp/test.jpg differ
diff --git a/src/include/Air_Ground_CEC/qnode.hpp b/src/include/Air_Ground_CEC/qnode.hpp
index e325147..3ff2034 100644
--- a/src/include/Air_Ground_CEC/qnode.hpp
+++ b/src/include/Air_Ground_CEC/qnode.hpp
@@ -41,6 +41,10 @@ public:
     //void subImage();
     QImage image;
 
+    bool issaveImage = false;
+    void setissaveImageTrue();
+    void setissaveImageFalse();
+
 
 Q_SIGNALS:
     void speed_x(double x);
@@ -80,6 +84,8 @@ private:
     QImage  Mat2QImage(cv::Mat const &src);
     cv::Mat QImage2Mat(QImage &image);
 
+
+
 };
 
 #endif
diff --git a/src/main/atr.cpp b/src/main/atr.cpp
index 6332524..8017f02 100644
--- a/src/main/atr.cpp
+++ b/src/main/atr.cpp
@@ -1,7 +1,7 @@
 #include "../include/Air_Ground_CEC/atr.h"
 using namespace std;
 #include "stdlib.h"
-char filename[100];
+
 
 ATR::ATR()
 {
@@ -10,7 +10,7 @@ ATR::ATR()
 void ATR::runCommand(){
   string ws = "cd /home/cyber/Study/Codes/catkin_ws/src/Air_Ground_CEC/src/YOLOv6";
   string CMD = "python3 ../YOLOv6/tools/infer.py --weights ../YOLOv6/yolov6n.pt --source ../YOLOv6/imgdir/";
-  string Pic = "x.jpg";
+  string Pic = "test.jpg";
   string Command = ws + "&&" + CMD + Pic;
   std::cout<<Command<<endl;
   system(Command.c_str());
@@ -18,10 +18,8 @@ void ATR::runCommand(){
 
 void ATR::getSolvedPic(){
   string Path = "/home/cyber/Study/Codes/catkin_ws/src/Air_Ground_CEC/src/YOLOv6/runs/inference/exp/";
-  string SolvedPicPath = Path + "x.jpg";
-  sprintf(filename, SolvedPicPath.c_str());
-  SolvedImg = cv::imread(filename);
-  QImage image = QImage(SolvedImg.data,SolvedImg.cols,SolvedImg.rows,SolvedImg.step[0],QImage::Format_RGB888);
+  string SolvedPicPath = Path + "test.jpg";
+  QImage image = QImage(SolvedPicPath.c_str());
   std::cout<<"image"<<endl;
   emit show_solvedImage(image);
 }
diff --git a/src/main/mainwindow.cpp b/src/main/mainwindow.cpp
index f58703b..a4bdb43 100644
--- a/src/main/mainwindow.cpp
+++ b/src/main/mainwindow.cpp
@@ -210,8 +210,14 @@ void MainWindow::connections(){
 }
 
 void MainWindow::slot_get_slovedImage(){
-  atr.runCommand();
-  atr.getSolvedPic();
+  qnode.setissaveImageTrue();
+  while(true){
+    if(qnode.issaveImage == false){
+      atr.runCommand();
+      atr.getSolvedPic();
+      break;
+    }
+  }
 }
 
 void MainWindow::slot_speed_x(double x) {
@@ -260,14 +266,20 @@ void MainWindow::slot_show_image(const QImage& image)
 {
     //qimage_mutex_.lock();
     //qimage_ = image.copy();
+    ui->label_camera->setScaledContents(true);
     ui->label_camera->setPixmap(QPixmap::fromImage(image));
     ui->label_camera->resize(ui->label_camera->pixmap()->size());
     //qimage_mutex_.unlock();
 }
 
 void MainWindow::slot_show_solvedImage(const QImage& solvedImage){
+  ui->label_2->setScaledContents(true);
   ui->label_2->setPixmap(QPixmap::fromImage(solvedImage));
   ui->label_2->resize(ui->label_2->pixmap()->size());
+
+  ui->solvedimage->setScaledContents(true);
+  ui->solvedimage->setPixmap(QPixmap::fromImage(solvedImage));
+  ui->solvedimage->resize(ui->solvedimage->pixmap()->size());
 }
 
 void MainWindow::setBtnStyles(){
diff --git a/src/main/qnode.cpp b/src/main/qnode.cpp
index 58b6cb3..f6344f0 100644
--- a/src/main/qnode.cpp
+++ b/src/main/qnode.cpp
@@ -6,7 +6,7 @@
 #include <QtConcurrent/QtConcurrent>
 
 QNode::QNode(int argc, char **argv) : init_argc(argc), init_argv(argv){
-
+  issaveImage = false;
 
 }
 
@@ -34,6 +34,14 @@ bool QNode::init() {
     return true;
 }
 
+void QNode::setissaveImageTrue(){
+  issaveImage = true;
+}
+
+void QNode::setissaveImageFalse(){
+  issaveImage = false;
+}
+
 void QNode::SubAndPubTopic(){
     ros::NodeHandle n;
 
@@ -48,7 +56,7 @@ void QNode::SubAndPubTopic(){
                               &QNode::batteryCallback, this);
 
     image_transport::ImageTransport it(n);
-    //camera/rgb/image_raw
+    //camera/rgb/image_raw raspicam_node/image
     image_sub = it.subscribe("raspicam_node/image", 10, &QNode::imageCallback, this);
 
     //image_sub0 = n.subscribe("camera/rgb/image_raw",100,&QNode::imageCallback,this)
@@ -179,7 +187,7 @@ void QNode::speedCallback(const nav_msgs::Odometry::ConstPtr& msg)
 
 void QNode::imageCallback(const sensor_msgs::ImageConstPtr &msg)
 {
-    ROS_INFO("i am ok");
+    //ROS_INFO("i am ok");
     try
       {
         cv_bridge::CvImageConstPtr cv_ptr =
@@ -187,7 +195,12 @@ void QNode::imageCallback(const sensor_msgs::ImageConstPtr &msg)
         cv::Mat img = cv_ptr->image;
         QImage image = QImage(img.data,img.cols,img.rows,img.step[0],QImage::Format_RGB888);//change  to QImage format
         //ROS_INFO("I'm setting picture in mul_t callback function!");
-        //image.save("/home/jackyma/test.jpg");
+        if(issaveImage){
+          string path = "/home/cyber/Study/Codes/catkin_ws/src/Air_Ground_CEC/src/YOLOv6/imgdir/";
+          image.save((path + "test.jpg").c_str());
+          issaveImage = false;
+        }
+
         emit show_image(image);
       }
     catch (cv_bridge::Exception& e)
diff --git a/src/ui/mainwindow.ui b/src/ui/mainwindow.ui
index 46c53e7..59f3da4 100644
--- a/src/ui/mainwindow.ui
+++ b/src/ui/mainwindow.ui
@@ -203,7 +203,7 @@ margin:0px 0px 0px 0px;
     <item row="0" column="0">
      <widget class="QStackedWidget" name="stackedWidget_main">
       <property name="currentIndex">
-       <number>0</number>
+       <number>2</number>
       </property>
       <widget class="QWidget" name="mainWidget">
        <widget class="QLabel" name="label_2">
@@ -211,10 +211,22 @@ margin:0px 0px 0px 0px;
          <rect>
           <x>240</x>
           <y>10</y>
-          <width>851</width>
-          <height>491</height>
+          <width>741</width>
+          <height>511</height>
          </rect>
         </property>
+        <property name="minimumSize">
+         <size>
+          <width>741</width>
+          <height>511</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>741</width>
+          <height>511</height>
+         </size>
+        </property>
         <property name="text">
          <string>Main Widget</string>
         </property>
@@ -369,8 +381,8 @@ margin:0px 0px 0px 0px;
        <widget class="QWidget" name="layoutWidget">
         <property name="geometry">
          <rect>
-          <x>680</x>
-          <y>10</y>
+          <x>690</x>
+          <y>0</y>
           <width>735</width>
           <height>750</height>
          </rect>
@@ -574,8 +586,49 @@ QProgressBar::chunk
          </item>
          <item>
           <layout class="QHBoxLayout" name="horizontalLayout_8">
+           <item>
+            <spacer name="horizontalSpacer_17">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
            <item>
             <layout class="QVBoxLayout" name="verticalLayout_8">
+             <item>
+              <widget class="QLabel" name="label_target_text">
+               <property name="font">
+                <font>
+                 <pointsize>18</pointsize>
+                </font>
+               </property>
+               <property name="text">
+                <string>Target</string>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <spacer name="verticalSpacer_7">
+               <property name="orientation">
+                <enum>Qt::Vertical</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Fixed</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>0</width>
+                 <height>20</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
              <item>
               <widget class="QLabel" name="solvedimage">
                <property name="minimumSize">
@@ -584,8 +637,14 @@ QProgressBar::chunk
                  <height>200</height>
                 </size>
                </property>
+               <property name="maximumSize">
+                <size>
+                 <width>270</width>
+                 <height>200</height>
+                </size>
+               </property>
                <property name="text">
-                <string>target</string>
+                <string>SolvedImage</string>
                </property>
               </widget>
              </item>
@@ -594,6 +653,9 @@ QProgressBar::chunk
                <property name="orientation">
                 <enum>Qt::Vertical</enum>
                </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Fixed</enum>
+               </property>
                <property name="sizeHint" stdset="0">
                 <size>
                  <width>20</width>
@@ -641,27 +703,27 @@ QProgressBar::chunk
                </property>
               </widget>
              </item>
+             <item>
+              <spacer name="verticalSpacer_8">
+               <property name="orientation">
+                <enum>Qt::Vertical</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>20</width>
+                 <height>40</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
             </layout>
            </item>
-           <item>
-            <spacer name="horizontalSpacer_13">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>40</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
            <item>
             <layout class="QVBoxLayout" name="verticalLayout_2">
              <item>
               <widget class="QStackedWidget" name="stackedWidget_ros_control">
                <property name="currentIndex">
-                <number>1</number>
+                <number>0</number>
                </property>
                <widget class="QWidget" name="keyboard_control">
                 <layout class="QHBoxLayout" name="horizontalLayout_3">
@@ -1268,10 +1330,10 @@ background-color: rgb(255,255,255);
        <widget class="QWidget" name="layoutWidget">
         <property name="geometry">
          <rect>
-          <x>21</x>
+          <x>31</x>
           <y>1</y>
-          <width>660</width>
-          <height>756</height>
+          <width>651</width>
+          <height>751</height>
          </rect>
         </property>
         <layout class="QVBoxLayout" name="verticalLayout_7">
@@ -1283,6 +1345,18 @@ background-color: rgb(255,255,255);
              <verstretch>0</verstretch>
             </sizepolicy>
            </property>
+           <property name="minimumSize">
+            <size>
+             <width>0</width>
+             <height>400</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>16777215</width>
+             <height>400</height>
+            </size>
+           </property>
            <property name="title">
             <string>Logging</string>
            </property>
@@ -1291,32 +1365,19 @@ background-color: rgb(255,255,255);
              <widget class="QLabel" name="label_camera">
               <property name="minimumSize">
                <size>
-                <width>600</width>
-                <height>270</height>
-               </size>
-              </property>
-              <property name="text">
-               <string>CameraLabel</string>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="QListView" name="view_logging_2">
-              <property name="enabled">
-               <bool>true</bool>
-              </property>
-              <property name="minimumSize">
-               <size>
-                <width>600</width>
-                <height>81</height>
+                <width>620</width>
+                <height>360</height>
                </size>
               </property>
               <property name="maximumSize">
                <size>
-                <width>16777215</width>
-                <height>81</height>
+                <width>620</width>
+                <height>360</height>
                </size>
               </property>
+              <property name="text">
+               <string>CameraLabel</string>
+              </property>
              </widget>
             </item>
            </layout>
@@ -1334,6 +1395,12 @@ background-color: rgb(255,255,255);
                  <height>300</height>
                 </size>
                </property>
+               <property name="maximumSize">
+                <size>
+                 <width>300</width>
+                 <height>300</height>
+                </size>
+               </property>
                <property name="styleSheet">
                 <string notr="true"/>
                </property>
@@ -1346,7 +1413,13 @@ background-color: rgb(255,255,255);
                  <property name="minimumSize">
                   <size>
                    <width>160</width>
-                   <height>30</height>
+                   <height>20</height>
+                  </size>
+                 </property>
+                 <property name="maximumSize">
+                  <size>
+                   <width>160</width>
+                   <height>29</height>
                   </size>
                  </property>
                  <property name="text">
@@ -1372,7 +1445,13 @@ background-color: rgb(255,255,255);
                  <property name="minimumSize">
                   <size>
                    <width>60</width>
-                   <height>35</height>
+                   <height>20</height>
+                  </size>
+                 </property>
+                 <property name="maximumSize">
+                  <size>
+                   <width>60</width>
+                   <height>30</height>
                   </size>
                  </property>
                  <property name="text">
@@ -1407,6 +1486,12 @@ background-color: rgb(255,255,255);
                  <height>300</height>
                 </size>
                </property>
+               <property name="maximumSize">
+                <size>
+                 <width>300</width>
+                 <height>300</height>
+                </size>
+               </property>
                <property name="styleSheet">
                 <string notr="true"/>
                </property>
@@ -1422,6 +1507,12 @@ background-color: rgb(255,255,255);
                    <height>30</height>
                   </size>
                  </property>
+                 <property name="maximumSize">
+                  <size>
+                   <width>160</width>
+                   <height>30</height>
+                  </size>
+                 </property>
                  <property name="text">
                   <string>x 轴线速度</string>
                  </property>
@@ -1434,8 +1525,8 @@ background-color: rgb(255,255,255);
                  </property>
                  <property name="sizeHint" stdset="0">
                   <size>
-                   <width>40</width>
-                   <height>20</height>
+                   <width>0</width>
+                   <height>30</height>
                   </size>
                  </property>
                 </spacer>
@@ -1445,7 +1536,13 @@ background-color: rgb(255,255,255);
                  <property name="minimumSize">
                   <size>
                    <width>60</width>
-                   <height>35</height>
+                   <height>30</height>
+                  </size>
+                 </property>
+                 <property name="maximumSize">
+                  <size>
+                   <width>60</width>
+                   <height>30</height>
                   </size>
                  </property>
                  <property name="text">