diff --git a/src/main/mainwindow.cpp b/src/main/mainwindow.cpp
index ea30a81..8e44df4 100644
--- a/src/main/mainwindow.cpp
+++ b/src/main/mainwindow.cpp
@@ -360,4 +360,27 @@ void MainWindow::setBtnStyles(){
                 "QPushButton:pressed{border-image: url(://images/down_right_2.png)}");
     ui->pushButton_Right_Back->setFlat(true);
 
+
+}
+void MainWindow::importFrame()
+{
+    capture >> frame;
+    cvtColor(frame, frame, CV_BGR2RGB);
+    QImage srcQImage = QImage((uchar*)(frame.data), frame.cols, frame.rows, QImage::Format_RGB888);
+    ui->tello_receiver->setPixmap(QPixmap::fromImage(srcQImage));
+    ui->tello_receiver->resize(srcQImage.size());
+    ui->tello_receiver->show();
+}
+
+void MainWindow::on_Open_receive_clicked()
+{
+  capture.open(1);
+  //capture.open("udp://@0.0.0.0:11111");
+  timer->start(30);
+}
+
+void MainWindow::on_Stop_receive_clicked()
+{
+  timer->stop();
+  capture.release();
 }
diff --git a/src/ui/Triplet/mainwindow.cpp b/src/ui/Triplet/mainwindow.cpp
index 5a195f4..7365b8c 100644
--- a/src/ui/Triplet/mainwindow.cpp
+++ b/src/ui/Triplet/mainwindow.cpp
@@ -43,3 +43,9 @@ void MainWindow::on_CLOSE_clicked()
     timer->stop();
     capture.release();
 }
+
+
+
+
+
+
diff --git a/src/ui/mainwindow.hpp b/src/ui/mainwindow.hpp
index 01eb5b1..6a9cb94 100644
--- a/src/ui/mainwindow.hpp
+++ b/src/ui/mainwindow.hpp
@@ -4,13 +4,14 @@
 #include <QMainWindow>
 #include <QImage>
 #include <QMutex>
-
+#include <QTimer>
 #include "ui_mainwindow.h"
 #include "../include/joystick.h"
 #include "../include/qnode.hpp"
 #include "../include/dashboard.h"
 #include <sensor_msgs/BatteryState.h>
 
+using namespace cv;
 namespace Ui {
 class MainWindow;
 }
@@ -45,10 +46,16 @@ public slots:
     void slot_batteryState(sensor_msgs::BatteryState);
     void Slider_raw_valueChanged(int v);
     void Slider_linear_valueChanged(int v);
-
+    void importFrame();//read video
     void slot_show_image(QImage image);//added
 
 
+private slots:
+    void on_Stop_receive_clicked();
+
+private slots:
+    void on_Open_receive_clicked();
+
 private:
     Ui::MainWindow *ui;
     QNode qnode;
@@ -56,6 +63,11 @@ private:
     DashBoard *m_DashBoard_x;
     DashBoard *m_DashBoard_th;
 
+    VideoCapture capture;
+    QTimer *timer;
+    Mat frame;
+    bool isCamerea = 0;
+
     void initUis();
     void setBtnStyles();
     void connections();
diff --git a/src/ui/mainwindow.ui b/src/ui/mainwindow.ui
index b4841a7..219b7fe 100644
--- a/src/ui/mainwindow.ui
+++ b/src/ui/mainwindow.ui
@@ -98,7 +98,7 @@
         </property>
         <property name="icon">
          <iconset theme="://images/toolbar_dash.png">
-          <normaloff>../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui</normaloff>../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui</iconset>
+          <normaloff>../../../Ros_Qt5_Gui_App/ui</normaloff>../../../Ros_Qt5_Gui_App/ui</iconset>
         </property>
         <property name="iconSize">
          <size>
@@ -143,7 +143,7 @@ margin:0px 0px 0px 0px;
         </property>
         <property name="icon">
          <iconset theme="://images/toolbar_map.png">
-          <normaloff>../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui</normaloff>../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui</iconset>
+          <normaloff>../../../Ros_Qt5_Gui_App/ui</normaloff>../../../Ros_Qt5_Gui_App/ui</iconset>
         </property>
         <property name="iconSize">
          <size>
@@ -188,7 +188,7 @@ margin:0px 0px 0px 0px;
         </property>
         <property name="icon">
          <iconset theme="://images/toolbar_other.png">
-          <normaloff>../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui</normaloff>../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui</iconset>
+          <normaloff>../../../Ros_Qt5_Gui_App/ui</normaloff>../../../Ros_Qt5_Gui_App/ui</iconset>
         </property>
         <property name="iconSize">
          <size>
@@ -203,7 +203,7 @@ margin:0px 0px 0px 0px;
     <item row="0" column="0">
      <widget class="QStackedWidget" name="stackedWidget_main">
       <property name="currentIndex">
-       <number>2</number>
+       <number>1</number>
       </property>
       <widget class="QWidget" name="mainWidget">
        <widget class="QLabel" name="label_2">
@@ -224,8 +224,8 @@ margin:0px 0px 0px 0px;
        <widget class="QLabel" name="label">
         <property name="geometry">
          <rect>
-          <x>680</x>
-          <y>290</y>
+          <x>870</x>
+          <y>300</y>
           <width>271</width>
           <height>121</height>
          </rect>
@@ -234,9 +234,126 @@ margin:0px 0px 0px 0px;
          <string>UAV Widget</string>
         </property>
        </widget>
+       <widget class="QGroupBox" name="groupBox_13">
+        <property name="geometry">
+         <rect>
+          <x>90</x>
+          <y>20</y>
+          <width>661</width>
+          <height>401</height>
+         </rect>
+        </property>
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="title">
+         <string>Logging</string>
+        </property>
+        <layout class="QVBoxLayout" name="verticalLayout_10">
+         <item>
+          <widget class="QLabel" name="tello_receiver">
+           <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_3">
+           <property name="enabled">
+            <bool>true</bool>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>600</width>
+             <height>81</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>16777215</width>
+             <height>81</height>
+            </size>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+       <widget class="QWidget" name="horizontalLayoutWidget">
+        <property name="geometry">
+         <rect>
+          <x>90</x>
+          <y>420</y>
+          <width>661</width>
+          <height>81</height>
+         </rect>
+        </property>
+        <layout class="QHBoxLayout" name="horizontalLayout_9">
+         <item>
+          <spacer name="horizontalSpacer_16">
+           <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>
+          <widget class="QPushButton" name="Open_receive">
+           <property name="minimumSize">
+            <size>
+             <width>211</width>
+             <height>71</height>
+            </size>
+           </property>
+           <property name="text">
+            <string>Open</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QPushButton" name="Stop_receive">
+           <property name="minimumSize">
+            <size>
+             <width>211</width>
+             <height>71</height>
+            </size>
+           </property>
+           <property name="text">
+            <string>Stop</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <spacer name="horizontalSpacer_15">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>40</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+        </layout>
+       </widget>
       </widget>
       <widget class="QWidget" name="UGVWidget">
-       <widget class="QWidget" name="">
+       <widget class="QWidget" name="layoutWidget">
         <property name="geometry">
          <rect>
           <x>680</x>
@@ -1135,7 +1252,7 @@ background-color: rgb(255,255,255);
          </item>
         </layout>
        </widget>
-       <widget class="QWidget" name="">
+       <widget class="QWidget" name="layoutWidget">
         <property name="geometry">
          <rect>
           <x>21</x>