diff --git a/deps/XRoboToolkit-RobotVision-PC b/deps/XRoboToolkit-RobotVision-PC
new file mode 160000
index 0000000..d8ad2b9
--- /dev/null
+++ b/deps/XRoboToolkit-RobotVision-PC
@@ -0,0 +1 @@
+Subproject commit d8ad2b9db3a711d55633830658a625ef32546fb4
diff --git a/test_zed.py b/test_zed.py
new file mode 100644
index 0000000..0227e74
--- /dev/null
+++ b/test_zed.py
@@ -0,0 +1,40 @@
+import pyzed.sl as sl
+import time
+import cv2
+
+zed = sl.Camera()
+init = sl.InitParameters()
+init.set_from_stream("127.0.0.1", 30000)
+init.depth_mode = sl.DEPTH_MODE.NEURAL
+
+print("尝试连接...")
+err = zed.open(init)
+print(f"结果: {err}")
+
+if err == sl.ERROR_CODE.SUCCESS:
+    print("连接成功！等待流就绪...")
+    image_left = sl.Mat()
+    image_depth = sl.Mat()
+
+    for i in range(30):
+        if zed.grab() == sl.ERROR_CODE.SUCCESS:
+            zed.retrieve_image(image_left, sl.VIEW.LEFT)
+            zed.retrieve_image(image_depth, sl.VIEW.DEPTH)
+
+            left = image_left.get_data()
+            depth = image_depth.get_data()
+
+            cv2.imwrite("left_2i.png", left)
+            cv2.imwrite("depth_2i.png", depth)
+            print(f"已保存 left.png 和 depth.png，分辨率: {left.shape[1]}x{left.shape[0]}")
+            break
+        else:
+            print(f"  等待中... ({i+1}/30)")
+            time.sleep(0.5)
+    else:
+        print("超时：无法获取图像帧")
+
+    image_left.free()
+    image_depth.free()
+    time.sleep(0.5)
+    zed.close()