diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
index 42b4d0f7fc..22966ce87b 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
@@ -43,6 +43,8 @@ import androidx.recyclerview.widget.LinearLayoutManager;
 import androidx.recyclerview.widget.RecyclerView;
 import androidx.recyclerview.widget.SimpleItemAnimator;
 
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.google.protobuf.TextFormat;
 import com.mogo.telematic.MogoProtocolMsg;
 import com.mogo.telematic.NSDNettyManager;
 import com.mogo.telematic.client.listener.NettyClientListener;
@@ -854,6 +856,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
     @Override
     public void onPointCloud(byte[] pointCloud) {
+//        try {
+//            MogoPointCloudOuterClass.MogoPointCloud bean = MogoPointCloudOuterClass.MogoPointCloud.parseFrom(pointCloud);
+//            Log.i("ddd","MogoPointCloud="+ TextFormat.printer().escapingNonAscii(false).printToString(bean));
+//        } catch (InvalidProtocolBufferException e) {
+//            e.printStackTrace();
+//        }
         OriginalPointCloudData base = new OriginalPointCloudData(pointCloud);
         DataDistribution.getInstance().addData(base);
     }
diff --git a/gradle.properties b/gradle.properties
index 58af36d966..26b0016f00 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -164,7 +164,7 @@ MOGO_V2X_SDK_VERSION=1.4.3.6
 # ADAS LIB Maven配置（用于地图部门测试使用，鹰眼项目中使用本地依赖） #
 ADAS_LIB_GROUP=com.zhidao.support.adas
 ADAS_LIB_POM_ARTIFACT_ID=high
-ADAS_LIB_CHILD_VERSION=.0
+ADAS_LIB_CHILD_VERSION=.1
 
 ADAS_DATA_LIB_GROUP=com.zhjt.mogo.adas.data
 ADAS_DATA_LIB_POM_ARTIFACT_ID=adas-data
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
index 5f12e90f58..9ef634f638 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
@@ -308,11 +308,14 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     @Override
     public void onDispatchRaw(String threadName, RawData raw) {
-        //分发点云原始数据
-        if (THREAD_NAME_DISPATCH_POINT_CLOUD.equals(threadName)) {
-            mAdasListener.onPointCloud(raw.originalData.toByteArray());
-        } else {
-            try {
+        try {
+            //分发点云原始数据
+            if (THREAD_NAME_DISPATCH_POINT_CLOUD.equals(threadName)) {
+                int len = raw.getPackageLengthValue() - raw.getOffsetValue();
+                byte[] bytes = new byte[len];
+                System.arraycopy(raw.originalData.toByteArray(), raw.getOffsetValue(), bytes, 0, len);
+                mAdasListener.onPointCloud(bytes);
+            } else {
                 if (rawUnpack != null) {
                     if (raw.getProtocolStatus() == ProtocolStatus.SUCCEED) {
                         MessagePad.Header header = raw.getHeader();
@@ -327,10 +330,10 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
                         callError(raw.getProtocolStatus(), raw.originalData.toByteArray());
                     }
                 }
-            } catch (Exception e) {
-                callError(ProtocolStatus.BUSINESS_DATA_PARSE_FAILED, raw.originalData.toByteArray());
-                CupidLogUtils.e(TAG, "原始数据:" + ByteUtil.byteArrToHex(raw.originalData.toByteArray()), e);
             }
+        } catch (Exception e) {
+            callError(ProtocolStatus.BUSINESS_DATA_PARSE_FAILED, raw.originalData.toByteArray());
+            CupidLogUtils.e(TAG, "原始数据:" + ByteUtil.byteArrToHex(raw.originalData.toByteArray()), e);
         }
     }
 
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
index 15e4327228..078ee82b9f 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
@@ -100,7 +100,7 @@ public interface OnAdasListener {
     /**
      * 透传的点云数据
      *
-     * @param pointCloud 原始数据 包括Header+pointCloud
+     * @param pointCloud 原始数据 只包含PointCloud数据
      */
     void onPointCloud(byte[] pointCloud);