diff --git a/Trace/handeye_calibration.py b/Trace/handeye_calibration.py
index b8ba806..488bfc8 100644
--- a/Trace/handeye_calibration.py
+++ b/Trace/handeye_calibration.py
@@ -76,7 +76,7 @@ def getPosition(x,y,z,a,b,c,rotation,points):
     # 单位化方向向量
     short_edge_direction = edge_vector / np.linalg.norm(edge_vector)
 
-    delta = -200#沿法向量方向抬高和压低，-指表示抬高，+值表示压低
+    delta = 0#沿法向量方向抬高和压低，-指表示抬高，+值表示压低
     angle = np.asarray([a,b,c])
     noraml = camera2robot[:3, :3]@angle
     normal_vector = noraml / np.linalg.norm(noraml)
@@ -86,4 +86,14 @@ def getPosition(x,y,z,a,b,c,rotation,points):
 
     return target_position,noraml_base
 
+def getxyz(x,y,z,a,b,c):
+    target = np.asarray([x, y, z, 1])
+    camera2robot = np.loadtxt('./Trace/com_pose2.txt', delimiter=' ')
+    target_position_raw = np.dot(camera2robot, target)
+    delta = -200  # 沿法向量方向抬高和压低，-指表示抬高，+值表示压低
+    angle = np.asarray([a, b, c])
+    noraml = camera2robot[:3, :3] @ angle
+    normal_vector = noraml / np.linalg.norm(noraml)
+    target_position = target_position_raw[:3] + delta * normal_vector
 
+    return target_position