diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6f4bdb946..bc49e21c2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -43,8 +43,7 @@ endif()
 
 
 # 指定struct_pb库目录
-set(struct_pb_plugin_DIRS ${CMAKE_CURRENT_LIST_DIR}/src/protoc-plugin)  # struct_pb_plugin_DIRS 将指定 proto_to_struct.proto,struct_pb.cmake等目录
-set(Protobuf_IMPORT_DIRS ${CMAKE_SOURCE_DIR})     # 设置protoc --proto_path参数
+
 
 
 # add_subdirectory(src/protoc-plugin)
diff --git a/src/example/CMakeLists.txt b/src/example/CMakeLists.txt
index 5752859a8..dd04f98c4 100644
--- a/src/example/CMakeLists.txt
+++ b/src/example/CMakeLists.txt
@@ -1,46 +1,35 @@
 
-  # 设置编译器选项
+set(ENV{proto_message} "proto_message")
+
+# 设置编译器选项
 add_compile_options(-Wno-attributes)
 
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/output/examples)
 
 # protobuf_generate_struct_pb 函数
+set(struct_pb_plugin_DIRS ${CMAKE_SOURCE_DIR}/src/protoc-plugin)  # struct_pb_plugin_DIRS 将指定 proto_to_struct.proto,struct_pb.cmake等目录
+set(Protobuf_IMPORT_DIRS ${CMAKE_SOURCE_DIR} ${struct_pb_plugin_DIRS} ${CMAKE_CURRENT_LIST_DIR})     # 设置protoc --proto_path参数
 include(${struct_pb_plugin_DIRS}/cmake/struct_pb.cmake)
 
 find_package(PCL REQUIRED COMPONENTS common io)
 find_package(OpenCV REQUIRED COMPONENTS core)
 
-# file(GLOB PROTO_FILES "*.proto")
-
-# set(PROTO_FILES "base.proto" "zframe.proto" "imu.proto")
-set(PROTO_FILES "/home/gsk/pro/yalantinglibs/src/example/base.proto" "/home/gsk/pro/yalantinglibs/src/example/zframe.proto")
-
 
-# 输出到指定目录
-message(!!!!!!"${CMAKE_BINARY_DIR}"!!!!!!!)
-protobuf_generate_cpp(COMMON_PROTO_SRCS COMMON_PROTO_HDRS
-  ${struct_pb_plugin_DIRS}/proto_to_struct.proto
-  PROTOC_OUT_DIR ${CMAKE_BINARY_DIR}/src/protoc-plugin
-)
-protobuf_generate_python(COMMON_PROTO_PYTHON_SRCS
-  ${struct_pb_plugin_DIRS}/proto_to_struct.proto
-  PROTOC_OUT_DIR ${CMAKE_BINARY_DIR}/src/protoc-plugin
-)
+file(GLOB PROTO_FILES "*.proto")
 
 # generate .pb.cc .pb.h
 protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS
+  ${struct_pb_plugin_DIRS}/proto_to_struct.proto
   ${PROTO_FILES}
+  # IMPORT_DIRS ${CMAKE_SOURCE_DIR}
 )
 
 protobuf_generate_python(PROTO_PYTHON_SRCS
+  ${struct_pb_plugin_DIRS}/proto_to_struct.proto
   ${PROTO_FILES}
+  # IMPORT_DIRS ${CMAKE_SOURCE_DIR}
 )
 
-# 删除点云,图片proto记录文件
-list(FILTER PROTO_FILES EXCLUDE REGEX "pointcloud\\.proto$|image\\.proto$")
-# message(status "-------${PROTO_FILES}-------")
-
-
 protobuf_generate_struct_pb(PROTO_STRUCT_SRCS PROTO_STRUCT_HDRS
   ${PROTO_FILES}
 OPTION "namespace=zhito.inner_struct,converter_namespace=zhito.converter"
@@ -48,19 +37,17 @@ OPTION "namespace=zhito.inner_struct,converter_namespace=zhito.converter"
 )
 
 add_executable(struct_pb_tutorial tutorial.cpp 
-  # 
-  ${COMMON_PROTO_SRCS}  ${COMMON_PROTO_HDRS} ${COMMON_PROTO_PYTHON_SRCS}
-  # zpointcloud.cpp zimage.cpp
   ${PROTO_SRCS}
   ${PROTO_HDRS}
   ${PROTO_STRUCT_SRCS}
   ${PROTO_STRUCT_HDRS}
-  # ${PROTO_PYTHON_SRCS}
+  ${PROTO_PYTHON_SRCS}
 )
 
 target_link_libraries(struct_pb_tutorial protobuf::libprotobuf 
   pcl_common pcl_io # pcl
   opencv_imgcodecs opencv_core  # opencv
+  $ENV{proto_message}
 )
 
 target_include_directories(struct_pb_tutorial PUBLIC 
@@ -72,4 +59,4 @@ target_include_directories(struct_pb_tutorial PUBLIC
   ${CMAKE_BINARY_DIR}/src/protoc-plugin
 )
 
-
+add_subdirectory(message)
diff --git a/src/example/base.proto b/src/example/base.proto
index 8c202be7f..e654c9c8d 100644
--- a/src/example/base.proto
+++ b/src/example/base.proto
@@ -1,7 +1,7 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "src/protoc-plugin/proto_to_struct.proto";
+import "proto_to_struct.proto";
 option(write_eigen_helper) = true;
 
 message Vector4f
diff --git a/src/example/message/CMakeLists.txt b/src/example/message/CMakeLists.txt
new file mode 100644
index 000000000..e6fe8d014
--- /dev/null
+++ b/src/example/message/CMakeLists.txt
@@ -0,0 +1,52 @@
+file(GLOB PROTO_FILES "*.proto")
+
+
+# generate .pb.cc .pb.h
+protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS
+  ${PROTO_FILES}
+  # IMPORT_DIRS ${CMAKE_SOURCE_DIR}
+)
+
+protobuf_generate_python(PROTO_PYTHON_SRCS
+  ${PROTO_FILES}
+  # IMPORT_DIRS ${CMAKE_SOURCE_DIR}
+)
+
+# 删除点云,图片proto记录文件
+list(FILTER PROTO_FILES EXCLUDE REGEX "pointcloud\\.proto$|image\\.proto$")
+# message(status "-------${PROTO_FILES}-------")
+
+
+protobuf_generate_struct_pb(PROTO_STRUCT_SRCS PROTO_STRUCT_HDRS
+  ${PROTO_FILES}
+OPTION "namespace=zhito.inner_struct,converter_namespace=zhito.converter"
+# PROTOC_OUT_DIR ${CMAKE_CURRENT_BINARY_DIR}
+)
+
+add_library($ENV{proto_message} OBJECT
+  # 
+  zpointcloud.cpp zimage.cpp
+  ${PROTO_SRCS}
+  ${PROTO_HDRS}
+  ${PROTO_STRUCT_SRCS}
+  ${PROTO_STRUCT_HDRS}
+  # ${PROTO_PYTHON_SRCS}
+)
+
+target_link_libraries($ENV{proto_message} protobuf::libprotobuf 
+  pcl_common pcl_io # pcl
+  opencv_imgcodecs opencv_core  # opencv
+)
+
+target_include_directories($ENV{proto_message} PUBLIC 
+  ${CMAKE_BINARY_DIR}
+  ${CMAKE_CURRENT_BINARY_DIR}
+  ${CMAKE_CURRENT_BINARY_DIR}/.. # 找到common
+  ${CMAKE_CURRENT_LIST_DIR}
+  ${CMAKE_CURRENT_LIST_DIR}/.. # 找到iguana
+  ${PCL_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
+  ${CMAKE_BINARY_DIR}/src/protoc-plugin
+)
+
+
diff --git a/src/example/chasis.proto b/src/example/message/chasis.proto
similarity index 82%
rename from src/example/chasis.proto
rename to src/example/message/chasis.proto
index fb8e2d954..4d679d373 100644
--- a/src/example/chasis.proto
+++ b/src/example/message/chasis.proto
@@ -1,8 +1,8 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "src/example/zframe.proto";
-import "src/example/base.proto";
+import "zframe.proto";
+import "base.proto";
 import "proto_to_struct.proto";
 message ZChassis
 {
diff --git a/src/example/gnss.proto b/src/example/message/gnss.proto
similarity index 88%
rename from src/example/gnss.proto
rename to src/example/message/gnss.proto
index 0479ccb3f..cd17cd0af 100644
--- a/src/example/gnss.proto
+++ b/src/example/message/gnss.proto
@@ -1,8 +1,8 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "src/example/zframe.proto";
-import "src/example/base.proto";
+import "zframe.proto";
+import "base.proto";
 import "proto_to_struct.proto";
 message ZGnss
 {
diff --git a/src/example/image.proto b/src/example/message/image.proto
similarity index 81%
rename from src/example/image.proto
rename to src/example/message/image.proto
index f7a1d3d04..adead8242 100644
--- a/src/example/image.proto
+++ b/src/example/message/image.proto
@@ -1,7 +1,7 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "src/example/zframe.proto";
+import "zframe.proto";
 
 message ZImage
 {
diff --git a/src/example/imu.proto b/src/example/message/imu.proto
similarity index 82%
rename from src/example/imu.proto
rename to src/example/message/imu.proto
index d81dea670..0f230aef1 100644
--- a/src/example/imu.proto
+++ b/src/example/message/imu.proto
@@ -1,8 +1,8 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "src/example/zframe.proto";
-import "src/example/base.proto";
+import "zframe.proto";
+import "base.proto";
 import "proto_to_struct.proto";
 message ZImu
 {
diff --git a/src/example/perception.proto b/src/example/message/perception.proto
similarity index 93%
rename from src/example/perception.proto
rename to src/example/message/perception.proto
index 09ef8170d..a0bc382de 100644
--- a/src/example/perception.proto
+++ b/src/example/message/perception.proto
@@ -1,8 +1,8 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "src/example/zframe.proto";
-import "src/example/base.proto";
+import "zframe.proto";
+import "base.proto";
 import "proto_to_struct.proto";
 message ZPercBase
 {
diff --git a/src/example/pointcloud.proto b/src/example/message/pointcloud.proto
similarity index 73%
rename from src/example/pointcloud.proto
rename to src/example/message/pointcloud.proto
index 68f03c673..1273596e6 100644
--- a/src/example/pointcloud.proto
+++ b/src/example/message/pointcloud.proto
@@ -1,8 +1,8 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "src/example/zframe.proto";
-import "src/example/base.proto";
+import "zframe.proto";
+import "base.proto";
 import "proto_to_struct.proto";
 message ZPointCloudXYZIT
 {
diff --git a/src/example/state.proto b/src/example/message/state.proto
similarity index 93%
rename from src/example/state.proto
rename to src/example/message/state.proto
index 454da1a15..308d1916f 100644
--- a/src/example/state.proto
+++ b/src/example/message/state.proto
@@ -1,8 +1,8 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "src/example/zframe.proto";
-import "src/example/base.proto";
+import "zframe.proto";
+import "base.proto";
 import "proto_to_struct.proto";
 message ZState{
    ZFrame header = 1 [(inherits_from) = true];
diff --git a/src/example/xyzit_points.hpp b/src/example/message/xyzit_points.hpp
similarity index 100%
rename from src/example/xyzit_points.hpp
rename to src/example/message/xyzit_points.hpp
diff --git a/src/example/zframe.proto b/src/example/message/zframe.proto
similarity index 96%
rename from src/example/zframe.proto
rename to src/example/message/zframe.proto
index c63692340..1bee861d9 100644
--- a/src/example/zframe.proto
+++ b/src/example/message/zframe.proto
@@ -1,8 +1,8 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "src/example/base.proto";
-import "src/protoc-plugin/proto_to_struct.proto";
+import "base.proto";
+import "proto_to_struct.proto";
 enum  ZFrameType{
      None = 0;
      VEHICLE_MODEL = 1;  // 车辆运动约束虚拟帧
diff --git a/src/example/zimage.cpp b/src/example/message/zimage.cpp
similarity index 100%
rename from src/example/zimage.cpp
rename to src/example/message/zimage.cpp
diff --git a/src/example/zimage.hpp b/src/example/message/zimage.hpp
similarity index 100%
rename from src/example/zimage.hpp
rename to src/example/message/zimage.hpp
diff --git a/src/example/zpointcloud.cpp b/src/example/message/zpointcloud.cpp
similarity index 100%
rename from src/example/zpointcloud.cpp
rename to src/example/message/zpointcloud.cpp
diff --git a/src/example/zpointcloud.hpp b/src/example/message/zpointcloud.hpp
similarity index 100%
rename from src/example/zpointcloud.hpp
rename to src/example/message/zpointcloud.hpp
diff --git a/src/example/tutorial.cpp b/src/example/tutorial.cpp
index 7dd7ed58d..c79cad233 100644
--- a/src/example/tutorial.cpp
+++ b/src/example/tutorial.cpp
@@ -4,9 +4,9 @@
 #include <string>
 
 // #include "addressbook.struct_pb.h"
-// #include "imu.struct_pb.h"
-// #include "zimage.hpp"
-// #include "zpointcloud.hpp"
+#include "src/example/message/imu.struct_pb.h"
+// #include "src/message/zimage.hpp"
+// #include "src/message/zpointcloud.hpp"
 
 // void PointcloudDemo() {
 //   using namespace zhito;
@@ -28,17 +28,17 @@
 //   std::cout << *pc3 << std::endl;
 // }
 
-// void ImuDemo() {
-//   using namespace zhito;
+void ImuDemo() {
+  using namespace zhito;
 
-//   inner_struct::ZImu imu1{1, 2, 3, inner_struct::ZFrameType::IMU, "channel_name", {4, 5, 6}, {7, 8, 9}, 10};
-//   inner_class::ZImu imu2 = converter::StructToClass(imu1);
-//   inner_struct::ZImu imu3 = converter::ClassToStruct(imu2);
+  inner_struct::ZImu imu1{1, 2, 3, inner_struct::ZFrameType::IMU, "channel_name", {4, 5, 6}, {7, 8, 9}, 10};
+  inner_class::ZImu imu2 = converter::StructToClass(imu1);
+  inner_struct::ZImu imu3 = converter::ClassToStruct(imu2);
 
-//   std::cout << imu1 << std::endl;
-//   std::cout << imu2.ShortDebugString() << std::endl;
-//   std::cout << imu3 << std::endl;
-// }
+  std::cout << imu1 << std::endl;
+  std::cout << imu2.ShortDebugString() << std::endl;
+  std::cout << imu3 << std::endl;
+}
 
 // void ImageDemo() {
 //   using namespace zhito;
@@ -55,7 +55,7 @@
 // }
 
 int main() {
-  // ImuDemo();
+  ImuDemo();
   // PointcloudDemo();
   // ImageDemo();