diff --git a/LoraViewer/main.py b/LoraViewer/main.py
new file mode 100644
index 0000000..61feb03
--- /dev/null
+++ b/LoraViewer/main.py
@@ -0,0 +1,71 @@
+# img_viewer.py
+
+import PySimpleGUI as sg
+import os.path
+
+# First the window layout in 2 columns
+
+file_list_column = [
+    [
+        sg.Text("Image Folder"),
+        sg.In(size=(25, 1), enable_events=True, key="-FOLDER-"),
+        sg.FolderBrowse(),
+    ],
+    [
+        sg.Listbox(
+            values=[], enable_events=True, size=(40, 20), key="-FILE LIST-"
+        )
+    ],
+]
+
+# For now will only show the name of the file that was chosen
+image_viewer_column = [
+    [sg.Text("Choose an image from list on left:")],
+    [sg.Text(size=(40, 1), key="-TOUT-")],
+    [sg.Image(key="-IMAGE-")],
+]
+
+# ----- Full layout -----
+layout = [
+    [
+        sg.Column(file_list_column),
+        sg.VSeperator(),
+        sg.Column(image_viewer_column),
+    ]
+]
+
+window = sg.Window("Image Viewer", layout)
+
+# Run the Event Loop
+while True:
+    event, values = window.read()
+    if event == "Exit" or event == sg.WIN_CLOSED:
+        break
+    # Folder name was filled in, make a list of files in the folder
+    if event == "-FOLDER-":
+        folder = values["-FOLDER-"]
+        try:
+            # Get list of files in folder
+            file_list = os.listdir(folder)
+        except:
+            file_list = []
+
+        fnames = [
+            f
+            for f in file_list
+            if os.path.isfile(os.path.join(folder, f))
+            and f.lower().endswith((".png", ".gif"))
+        ]
+        window["-FILE LIST-"].update(fnames)
+    elif event == "-FILE LIST-":  # A file was chosen from the listbox
+        try:
+            filename = os.path.join(
+                values["-FOLDER-"], values["-FILE LIST-"][0]
+            )
+            window["-TOUT-"].update(filename)
+            window["-IMAGE-"].update(filename=filename)
+
+        except:
+            pass
+
+window.close()
\ No newline at end of file
diff --git a/sim_control.py b/sim_control.py
index f1775f1..e8cf567 100644
--- a/sim_control.py
+++ b/sim_control.py
@@ -1,5 +1,6 @@
 import airsim
 import os
+from utils.path_detect import read_image
 
 # connect to the AirSim simulator
 client = airsim.MultirotorClient()
@@ -18,8 +19,8 @@ client.moveByVelocityAsync(0, 0, 0, 1).join()
 
 # take video from bottom camera and show using cv2
 raw = client.simGetImage("bottom_center", airsim.ImageType.Scene)
-airsim.write_file(os.path.normpath("./data/004.png"), raw)
-
+airsim.write_file(os.path.normpath("./data/temp.png"), raw)
+read_image("./data/temp.png")
 
 client.landAsync().join()
 # lock
diff --git a/utils/__init__.py b/utils/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/utils/path_detect.py b/utils/path_detect.py
index 9888010..406480f 100644
--- a/utils/path_detect.py
+++ b/utils/path_detect.py
@@ -4,6 +4,38 @@ import numpy as np
 
 # https://www.cnblogs.com/meikaiyuan/p/16805539.html
 
+def mid_line_fit(contours_, mask, raw):
+    middle_s = []
+
+    for i in range(0, 143):
+        count = 0
+        sum_ = 0
+        for j in range(0, 255):
+            if contours_[1][j][0][1] == i:
+                sum_ += contours_[1][j][0][0]
+                count += 1
+        middle = sum_ / count
+        print(count)
+        middle_s.append([[middle, i]])
+
+    contours_middle = np.array(middle_s).astype(np.int32)
+
+    cv2.drawContours(mask, contours_middle, -1, (0, 255, 0), 2)
+
+    output = cv2.fitLine(contours_middle, cv2.DIST_L2, 0, 0.01, 0.01)
+    k = output[1] / output[0]
+    b = output[3] - k * output[2]
+    x_0 = -b / k
+    x_480 = (479 - b) / k
+    cv2.line(mask, (int(x_0), 0), (int(x_480), 479), (255, 0, 0), 4)
+    cv2.line(raw, (int(x_0), 0), (int(x_480), 479), (255, 0, 0), 4)
+
+    cv2.imshow("img_c", raw)
+    cv2.imshow("line", mask)
+    # cv2.imshow("mask", mask_c)
+    cv2.waitKey(0)
+
+
 def read_image(path):
     raw = cv2.imread(path)
     # 设定颜色HSV范围，假定为红色
@@ -25,13 +57,15 @@ def read_image(path):
     dilation = cv2.dilate(binary, kernel, iterations=1)
     #
     # img2 = cv2.bitwise_and(img, img, mask=mask)
-    cv2.imshow('image', dilation)
-    cv2.waitKey(0)
-    cv2.destroyAllWindows()
+    # cv2.imshow('image', dilation)
+    # cv2.waitKey(0)
+    # cv2.destroyAllWindows()
 
     # 获取图像轮廓坐标，其中contours为坐标值，此处只检测外形轮廓
     contours, hierarchy = cv2.findContours(dilation, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
-    cv2.approxPolyDP(contours[0], 0.01, True)
+    # cv2.approxPolyDP(contours[0], 0.01, True)
+    print(contours)
+    mid_line_fit(contours, mask, raw)