diff --git a/Trace/handeye_calibration.py b/Trace/handeye_calibration.py
index fb69af5..a224329 100644
--- a/Trace/handeye_calibration.py
+++ b/Trace/handeye_calibration.py
@@ -62,8 +62,8 @@ def getPosition(x,y,z,a,b,c,rotation,points):
     target_position = np.dot(camera2robot, target)
 
     corner_points_camera = np.asarray(points)
-    corner_points_base = np.dot(camera2robot[:3, :3], corner_points_camera.T).T + camera2robot[:3, 3]
-    edges = np.array([corner_points_base[i] - corner_points_base[i - 1] for i in range(len(corner_points_base))])
+    corner_points_base = np.dot(T_BC[:3, :3], corner_points_camera.T).T + T_BC[:3, 3]
+    edges = np.array([corner_points_base[1] - corner_points_base[0]])  # for i in range(len(corner_points_base))])
     edge_lengths = np.linalg.norm(edges, axis=1)
     min_edge_idx = np.argmin(edge_lengths)
     short_edge_direction = edges[min_edge_idx] / edge_lengths[min_edge_idx]  # 单位化方向向量