diff --git a/src/openarm_camera/openarm_camera/stereo_hand_depth_node.py b/src/openarm_camera/openarm_camera/stereo_hand_depth_node.py
index 3284a12..de8c482 100644
--- a/src/openarm_camera/openarm_camera/stereo_hand_depth_node.py
+++ b/src/openarm_camera/openarm_camera/stereo_hand_depth_node.py
@@ -9,6 +9,8 @@ from geometry_msgs.msg import PointStamped
 from cv_bridge import CvBridge
 from sensor_msgs.msg import CameraInfo
 import mediapipe as mp
+from scipy.spatial.transform import Rotation as R
+# from tf_transformations import quaternion_from_euler, euler_from_quaternion
 
 
 class StereoHandDepthNode(Node):
@@ -181,8 +183,14 @@ class StereoHandDepthNode(Node):
                     cameraMatrix=self.K1,
                     distCoeffs=self.D1
                 )
-                cv2.drawFrameAxes(left_gray, self.K1, self.D1, rvec, tvec, 0.1, 2)
-                # self.get_logger().info(f"rvec: {rvec}")
+                if(ret == True):
+                    cv2.drawFrameAxes(left_gray, self.K1, self.D1, rvec, tvec, 0.1, 2)
+                    R_ca, _ = cv2.Rodrigues(rvec)
+                    rot = R.from_matrix(R_ca)
+                    qx, qy, qz, qw = rot.as_quat()
+                    roll, pitch, yaw = rot.as_euler('xyz')
+                    self.get_logger().info(f"quat: ({qx}, {qy}, {qz}, {qw})")
+                    self.get_logger().info(f"euler: ({roll*180/3.14:.1f}, {pitch*180/3.14:.1f}, {yaw*180/3.14:.1f})")
             # u = int(u * (w / 2))  # 注意这里是左图宽度
             # v = int(v * h)
             p.header = msg.header