diff --git a/src/maintain/scripts/test.py b/src/maintain/scripts/test.py
index abfb269..214a0e5 100755
--- a/src/maintain/scripts/test.py
+++ b/src/maintain/scripts/test.py
@@ -23,8 +23,8 @@ bridge = CvBridge()
 annulus_width = 10
 
 # 2d to 3d
-def computer_2d_3d(x, y, depth_roi, color_intrinsics):
-    pz = np.mean(depth_roi) * 0.001
+def computer_2d_3d(x, y, depth_array, color_intrinsics):
+    pz = depth_array[int(y), int(x)] / 1000
     px = (x - color_intrinsics[2]) * pz / color_intrinsics[0]
     py = (y - color_intrinsics[5]) * pz / color_intrinsics[4]
     return px, py, pz
@@ -69,26 +69,24 @@ def box_callback(box, depth, color_info):
             # print(screw_x,screw_y)
 
             depth_array = np.array(depth_image, dtype=np.float32)
-            depth_roi = depth_array[boundingBox.ymin:boundingBox.ymax, boundingBox.xmin:boundingBox.xmax]
+            # depth_roi = depth_array[boundingBox.ymin:boundingBox.ymax, boundingBox.xmin:boundingBox.xmax]
 
-            x, y, z = computer_2d_3d(screw_x, screw_y, depth_roi, color_intrinsics)
+            x, y, z = computer_2d_3d(screw_x, screw_y, depth_array, color_intrinsics)
             # rospy.loginfo("screw pose: x: %f, y: %f, z: %f", x, y, z)
             # calculate normal direction of screw area
-            p1x, p1y, p1z = computer_2d_3d(boundingBox.xmin-annulus_width, boundingBox.ymin-annulus_width, depth_roi, color_intrinsics)
-            p2x, p2y, p2z = computer_2d_3d(boundingBox.xmax+annulus_width, boundingBox.ymin-annulus_width, depth_roi, color_intrinsics)
-            p3x, p3y, p3z = computer_2d_3d(boundingBox.xmax+annulus_width, boundingBox.ymax+annulus_width, depth_roi, color_intrinsics)
-            p4x, p4y, p4z = computer_2d_3d(boundingBox.xmin-annulus_width, boundingBox.ymax+annulus_width, depth_roi, color_intrinsics)
+            p1x, p1y, p1z = computer_2d_3d(boundingBox.xmin-annulus_width, boundingBox.ymin-annulus_width, depth_array, color_intrinsics)
+            p2x, p2y, p2z = computer_2d_3d(boundingBox.xmax+annulus_width, boundingBox.ymin-annulus_width, depth_array, color_intrinsics)
+            p3x, p3y, p3z = computer_2d_3d(boundingBox.xmax+annulus_width, boundingBox.ymax+annulus_width, depth_array, color_intrinsics)
+            p4x, p4y, p4z = computer_2d_3d(boundingBox.xmin-annulus_width, boundingBox.ymax+annulus_width, depth_array, color_intrinsics)
             p1 = [p1x, p1y, p1z]
             p2 = [p2x, p2y, p2z]
             p3 = [p3x, p3y, p3z]
             p4 = [p4x, p4y, p4z]
             normal = compute_normal_vector(p1, p2, p3, p4)
-
             # annulus_roi = depth_array[boundingBox.ymin-annulus_width:boundingBox.ymax+annulus_width, boundingBox.xmin-annulus_width:boundingBox.xmax+annulus_width]
             # normal = calculate_image_edge_plane_normal(annulus_roi)
             # print(normal)
 
-
             # normal vector to quaternion
             screw_quat = tf.transformations.quaternion_from_euler(0, 0, 0)
             screw_quat[0] = normal[0]
@@ -116,10 +114,10 @@ def box_callback(box, depth, color_info):
             screw_tf.transform.translation.x = x
             screw_tf.transform.translation.y = y
             screw_tf.transform.translation.z = z
-            screw_tf.transform.rotation.x = screw_quat_filtered[0]
-            screw_tf.transform.rotation.y = screw_quat_filtered[1]
-            screw_tf.transform.rotation.z = screw_quat_filtered[2]
-            screw_tf.transform.rotation.w = screw_quat_filtered[3]
+            screw_tf.transform.rotation.x = screw_quat[0]
+            screw_tf.transform.rotation.y = screw_quat[1]
+            screw_tf.transform.rotation.z = screw_quat[2]
+            screw_tf.transform.rotation.w = screw_quat[3]
 
             tf_broadcaster.sendTransform(screw_tf)
 
diff --git a/src/yolov5_ros/src/yolov5/best.pt b/src/yolov5_ros/src/yolov5/best.pt
index 52d5f43..01a54c8 100644
Binary files a/src/yolov5_ros/src/yolov5/best.pt and b/src/yolov5_ros/src/yolov5/best.pt differ