diff --git a/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Inc/DetectPresenter.h b/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Inc/DetectPresenter.h
index 11855de9..1951ff84 100644
--- a/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Inc/DetectPresenter.h
+++ b/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Inc/DetectPresenter.h
@@ -35,6 +35,7 @@ public:
                     const double clibMatrix[16],
                     int eulerOrder,
                     int dirVectorInvert,
+                    int longAxisDir,
                     DetectionResult& detectionResult);
 
 };
diff --git a/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/DetectPresenter.cpp b/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/DetectPresenter.cpp
index 14ec7447..78bf6189 100644
--- a/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/DetectPresenter.cpp
+++ b/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/DetectPresenter.cpp
@@ -13,102 +13,6 @@
 namespace
 {
 
-constexpr double kVectorNormEpsilon = 1e-6;
-
-HECPoint3D MakeHecPoint(double x, double y, double z)
-{
-    return HECPoint3D(x, y, z);
-}
-
-HECPoint3D CrossProduct(const HECPoint3D& a, const HECPoint3D& b)
-{
-    return HECPoint3D(
-        a.y * b.z - a.z * b.y,
-        a.z * b.x - a.x * b.z,
-        a.x * b.y - a.y * b.x);
-}
-
-double DotProduct(const HECPoint3D& a, const HECPoint3D& b)
-{
-    return a.x * b.x + a.y * b.y + a.z * b.z;
-}
-
-bool NormalizeInPlace(HECPoint3D& v)
-{
-    const double norm = v.norm();
-    if (norm < kVectorNormEpsilon) {
-        return false;
-    }
-
-    v = v / norm;
-    return true;
-}
-
-void ApplyDirVectorInvert(std::vector<HECPoint3D>& dirVectors, int dirVectorInvert)
-{
-    switch (dirVectorInvert) {
-    case 1:
-        dirVectors[0] = dirVectors[0] * (-1.0);
-        dirVectors[1] = dirVectors[1] * (-1.0);
-        break;
-    case 2:
-        dirVectors[0] = dirVectors[0] * (-1.0);
-        dirVectors[2] = dirVectors[2] * (-1.0);
-        break;
-    case 3:
-        dirVectors[1] = dirVectors[1] * (-1.0);
-        dirVectors[2] = dirVectors[2] * (-1.0);
-        break;
-    case 0:
-    default:
-        break;
-    }
-}
-
-bool BuildRightHandedFrameFromXZ(const HECPoint3D& xSeed,
-                                 const HECPoint3D& zSeed,
-                                 std::vector<HECPoint3D>& dirVectors)
-{
-    HECPoint3D xAxis = xSeed;
-    HECPoint3D zAxis = zSeed;
-    if (!NormalizeInPlace(xAxis) || !NormalizeInPlace(zAxis)) {
-        return false;
-    }
-
-    zAxis = zAxis - xAxis * DotProduct(xAxis, zAxis);
-    if (!NormalizeInPlace(zAxis)) {
-        return false;
-    }
-
-    HECPoint3D yAxis = CrossProduct(zAxis, xAxis);
-    if (!NormalizeInPlace(yAxis)) {
-        return false;
-    }
-
-    zAxis = CrossProduct(xAxis, yAxis);
-    if (!NormalizeInPlace(zAxis)) {
-        return false;
-    }
-
-    dirVectors = { xAxis, yAxis, zAxis };
-    return true;
-}
-
-HECRotationMatrix BuildRotationMatrixFromAxes(const std::vector<HECPoint3D>& dirVectors)
-{
-    HECRotationMatrix rotation;
-    rotation.at(0, 0) = dirVectors[0].x;
-    rotation.at(0, 1) = dirVectors[1].x;
-    rotation.at(0, 2) = dirVectors[2].x;
-    rotation.at(1, 0) = dirVectors[0].y;
-    rotation.at(1, 1) = dirVectors[1].y;
-    rotation.at(1, 2) = dirVectors[2].y;
-    rotation.at(2, 0) = dirVectors[0].z;
-    rotation.at(2, 1) = dirVectors[1].z;
-    rotation.at(2, 2) = dirVectors[2].z;
-    return rotation;
-}
-
 HECEulerOrder ToHandEyeEulerOrder(int eulerOrder)
 {
     switch (eulerOrder) {
@@ -161,6 +65,7 @@ int DetectPresenter::DetectRod(
     const double clibMatrix[16],
     int eulerOrder,
     int dirVectorInvert,
+    int longAxisDir,
     DetectionResult& detectionResult)
 {
     if (laserLines.empty()) {
@@ -349,62 +254,44 @@ int DetectPresenter::DetectRod(
     // 转换检测结果为UI显示格式（使用机械臂坐标系数据）
     for (size_t i = 0; i < rodInfo.size(); i++) {
         const auto& rod = rodInfo[i];
+        
+        LOG_INFO("[Algo Thread] Rod %zu Eye Center: X=%.2f, Y=%.2f, Z=%.2f\n", i, rod.center.x, rod.center.y, rod.center.z);
+        LOG_INFO("[Algo Thread] Rod %zu Input X seed: [%.6f, %.6f, %.6f]\n", i, rod.axialDir.x, rod.axialDir.y, rod.axialDir.z);
+        LOG_INFO("[Algo Thread] Rod %zu Input Z seed: [%.6f, %.6f, %.6f]\n", i, rod.normalDir.x, rod.normalDir.y, rod.normalDir.z);
 
-        // 进行坐标转换：从算法坐标系转换到机械臂坐标系
-        SVzNL3DPoint targetObj;
-        targetObj.x = rod.center.x;
-        targetObj.y = rod.center.y;
-        targetObj.z = rod.center.z;
-
-        HECPoint3D eyePoint = MakeHecPoint(targetObj.x, targetObj.y, targetObj.z);
-        HECPoint3D robotPoint;
-        handEyeCalib->TransformPoint(calibResult.R, calibResult.T, eyePoint, robotPoint);
-
-        std::vector<HECPoint3D> dirVectorsEye;
-        bool validPose = BuildRightHandedFrameFromXZ(
-            MakeHecPoint(rod.axialDir.x, rod.axialDir.y, rod.axialDir.z),
-            MakeHecPoint(rod.normalDir.x, rod.normalDir.y, rod.normalDir.z),
-            dirVectorsEye);
+        HECPoseResult poseResult;
+        bool validPose = handEyeCalib->TransformPose(
+            calibResult,
+            HECPoint3D(rod.center.x, rod.center.y, rod.center.z),
+            HECPoint3D(rod.axialDir.x, rod.axialDir.y, rod.axialDir.z),
+            HECPoint3D(rod.normalDir.x, rod.normalDir.y, rod.normalDir.z),
+            dirVectorInvert,
+            hecEulerOrder,
+            longAxisDir == 1 ? HECLongAxisDir::AxisY : HECLongAxisDir::AxisX,
+            poseResult);
         if (!validPose) {
             LOG_WARNING("[Algo Thread] Rod %zu has invalid axial/normal direction, use zero pose\n", i);
-            dirVectorsEye = {
-                HECPoint3D(1.0, 0.0, 0.0),
-                HECPoint3D(0.0, 1.0, 0.0),
-                HECPoint3D(0.0, 0.0, 1.0)
-            };
-        }
-        ApplyDirVectorInvert(dirVectorsEye, dirVectorInvert);
-
-        std::vector<HECPoint3D> dirVectorsRobot(3);
-        for (int axisIdx = 0; axisIdx < 3; ++axisIdx) {
-            handEyeCalib->RotatePoint(calibResult.R, dirVectorsEye[axisIdx], dirVectorsRobot[axisIdx]);
         }
 
-        const HECRotationMatrix robotPoseR = BuildRotationMatrixFromAxes(dirVectorsRobot);
-
-        HECEulerAngles robotEuler;
-        handEyeCalib->RotationMatrixToEuler(robotPoseR, hecEulerOrder, robotEuler);
-        double rollDeg = 0.0;
-        double pitchDeg = 0.0;
-        double yawDeg = 0.0;
-        robotEuler.toDegrees(rollDeg, pitchDeg, yawDeg);
+        double rollDeg = 0.0, pitchDeg = 0.0, yawDeg = 0.0;
+        poseResult.angles.toDegrees(rollDeg, pitchDeg, yawDeg);
 
         // 创建位置数据（使用转换后的机械臂坐标）
         RodPosition pos;
         pos.roll    = rollDeg;
         pos.pitch   = pitchDeg;
         pos.yaw     = yawDeg;
-        pos.x       = robotPoint.x;         // 机械臂坐标X
-        pos.y       = robotPoint.y;         // 机械臂坐标Y
-        pos.z       = robotPoint.z;         // 机械臂坐标Z
+        pos.x       = poseResult.position.x;
+        pos.y       = poseResult.position.y;
+        pos.z       = poseResult.position.z;
 
         detectionResult.positions.push_back(pos);
 
         // 保存棒材信息
         RodInfo info;
-        info.centerX = robotPoint.x;
-        info.centerY = robotPoint.y;
-        info.centerZ = robotPoint.z;
+        info.centerX = poseResult.position.x;
+        info.centerY = poseResult.position.y;
+        info.centerZ = poseResult.position.z;
         info.axialDirX = rod.axialDir.x;
         info.axialDirY = rod.axialDir.y;
         info.axialDirZ = rod.axialDir.z;
@@ -419,12 +306,8 @@ int DetectPresenter::DetectRod(
         info.endPtZ = rod.endPt.z;
         detectionResult.rodInfoList.push_back(info);
 
-        if(debugParam.enableDebug && debugParam.printDetailLog){
-            LOG_INFO("[Algo Thread] Rod %zu Eye Coords: X=%.2f, Y=%.2f, Z=%.2f\n", i, rod.center.x, rod.center.y, rod.center.z);
-            LOG_INFO("[Algo Thread] Rod %zu Robot Coords: X=%.2f, Y=%.2f, Z=%.2f, RPY=%.2f, %.2f, %.2f\n", i, pos.x, pos.y, pos.z, pos.roll, pos.pitch, pos.yaw);
-            LOG_INFO("[Algo Thread] Rod %zu Axial Dir: X=%.3f, Y=%.3f, Z=%.3f\n",  i, rod.axialDir.x, rod.axialDir.y, rod.axialDir.z);
-            LOG_INFO("[Algo Thread] Rod %zu Normal Dir: X=%.3f, Y=%.3f, Z=%.3f\n", i, rod.normalDir.x, rod.normalDir.y, rod.normalDir.z);
-        }
+        // Print key values for coordinate transform debugging
+        LOG_INFO("[Algo Thread] Rod %zu Robot Pose: X=%.2f, Y=%.2f, Z=%.2f, Roll=%.6f, Pitch=%.6f, Yaw=%.6f\n", i, pos.x, pos.y, pos.z, pos.roll, pos.pitch, pos.yaw);
     }
 
     if(debugParam.enableDebug && debugParam.saveDebugImage){
diff --git a/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/RodAndBarPositionPresenter.cpp b/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/RodAndBarPositionPresenter.cpp
index db73f817..764e4890 100644
--- a/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/RodAndBarPositionPresenter.cpp
+++ b/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/RodAndBarPositionPresenter.cpp
@@ -215,14 +215,15 @@ int RodAndBarPositionPresenter::ProcessAlgoDetection(std::vector<std::pair<EVzRe
         eulerOrder = configResult.handEyeCalibMatrixList[0].eulerOrder;
     }
     const int dirVectorInvert = configResult.dirVectorInvert;
-    LOG_INFO("[Algo Thread] Using euler order: %d, dir vector invert: %d\n", eulerOrder, dirVectorInvert);
+    const int longAxisDir = configResult.longAxisDir;
+    LOG_INFO("[Algo Thread] Using euler order: %d, dir vector invert: %d, long axis dir: %d\n", eulerOrder, dirVectorInvert, longAxisDir);
 
     DetectionResult detectionResult;
 
     int nRet = m_pDetectPresenter->DetectRod(m_currentCameraIndex, detectionDataCache,
                                 algorithmParams, debugParam, m_dataLoader,
                                 currentClibMatrix.clibMatrix, eulerOrder, dirVectorInvert,
-                                detectionResult);
+                                longAxisDir, detectionResult);
     // 根据项目类型选择处理方式
     if (GetStatusCallback<IYRodAndBarPositionStatus>()) {
         QString err = QString("错误:%1").arg(nRet);
diff --git a/App/RodAndBarPosition/RodAndBarPositionApp/Version.h b/App/RodAndBarPosition/RodAndBarPositionApp/Version.h
index 0963b134..67f98735 100644
--- a/App/RodAndBarPosition/RodAndBarPositionApp/Version.h
+++ b/App/RodAndBarPosition/RodAndBarPositionApp/Version.h
@@ -5,7 +5,7 @@
 // 应用名称
 #define RODANDBARPOSITION_APP_NAME "棒材定位"
 
-#define RODANDBARPOSITION_VERSION_STRING "1.0.1"
+#define RODANDBARPOSITION_VERSION_STRING "1.0.2"
 #define RODANDBARPOSITION_BUILD_STRING "1"
 #define RODANDBARPOSITION_FULL_VERSION_STRING "V" RODANDBARPOSITION_VERSION_STRING "_" RODANDBARPOSITION_BUILD_STRING
 
diff --git a/App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.cpp b/App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.cpp
index d0e94757..a2d9e5b2 100644
--- a/App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.cpp
+++ b/App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.cpp
@@ -116,6 +116,7 @@ void DialogAlgoArg::saveParams()
             systemConfig.configResult.eulerOrder = netConfig.eulerOrder;
             systemConfig.configResult.dirVectorInvert = netConfig.dirVectorInvert;
             systemConfig.configResult.byteOrder = netConfig.byteOrder;
+            systemConfig.configResult.longAxisDir = netConfig.longAxisDir;
         }
         if (hasNetworkConfig) {
             for (auto& calibMatrix : systemConfig.configResult.handEyeCalibMatrixList) {
@@ -320,6 +321,7 @@ void DialogAlgoArg::loadNetworkConfig()
     }
     netConfig.dirVectorInvert = configResult.dirVectorInvert;
     netConfig.byteOrder = configResult.byteOrder;
+    netConfig.longAxisDir = configResult.longAxisDir;
 
     m_networkConfigWidget->setConfig(netConfig);
 }
@@ -338,6 +340,7 @@ void DialogAlgoArg::saveNetworkConfig()
     systemConfig.configResult.eulerOrder = netConfig.eulerOrder;
     systemConfig.configResult.dirVectorInvert = netConfig.dirVectorInvert;
     systemConfig.configResult.byteOrder = netConfig.byteOrder;
+    systemConfig.configResult.longAxisDir = netConfig.longAxisDir;
     for (auto& calibMatrix : systemConfig.configResult.handEyeCalibMatrixList) {
         calibMatrix.eulerOrder = netConfig.eulerOrder;
     }
diff --git a/App/RodAndBarPosition/RodAndBarPositionConfig/Inc/IVrConfig.h b/App/RodAndBarPosition/RodAndBarPositionConfig/Inc/IVrConfig.h
index 7dc628a3..cc53c74e 100644
--- a/App/RodAndBarPosition/RodAndBarPositionConfig/Inc/IVrConfig.h
+++ b/App/RodAndBarPosition/RodAndBarPositionConfig/Inc/IVrConfig.h
@@ -78,6 +78,7 @@ struct ConfigResult
     int                        eulerOrder = 11;   // 欧拉角旋转顺序，默认11=外旋ZYX
     int                        dirVectorInvert = 0; // 方向向量反向，默认0=不反向
     int                        byteOrder = 0;     // 数据字节序，默认0=大端序
+    int                        longAxisDir = 0;   // 目标物长边对应轴：0=X轴, 1=Y轴
 
     // 显式赋值构造函数，确保正确的深拷贝
     ConfigResult& operator=(const ConfigResult& other) {
@@ -90,6 +91,7 @@ struct ConfigResult
             eulerOrder = other.eulerOrder;
             dirVectorInvert = other.dirVectorInvert;
             byteOrder = other.byteOrder;
+            longAxisDir = other.longAxisDir;
         }
         return *this;
     }
@@ -103,7 +105,8 @@ struct ConfigResult
         , handEyeCalibMatrixList(other.handEyeCalibMatrixList)
         , eulerOrder(other.eulerOrder)
         , dirVectorInvert(other.dirVectorInvert)
-        , byteOrder(other.byteOrder) {
+        , byteOrder(other.byteOrder)
+        , longAxisDir(other.longAxisDir) {
     }
 
     // 默认构造函数
diff --git a/App/RodAndBarPosition/RodAndBarPositionConfig/Src/VrConfig.cpp b/App/RodAndBarPosition/RodAndBarPositionConfig/Src/VrConfig.cpp
index 7a034bee..611de2df 100644
--- a/App/RodAndBarPosition/RodAndBarPositionConfig/Src/VrConfig.cpp
+++ b/App/RodAndBarPosition/RodAndBarPositionConfig/Src/VrConfig.cpp
@@ -117,9 +117,10 @@ int CVrConfig::LoadConfig(const std::string& filePath, ConfigResult& configResul
         networkElement->QueryIntAttribute("eulerOrder", &configResult.eulerOrder);
         networkElement->QueryIntAttribute("dirVectorInvert", &configResult.dirVectorInvert);
         networkElement->QueryIntAttribute("byteOrder", &configResult.byteOrder);
+        networkElement->QueryIntAttribute("longAxisDir", &configResult.longAxisDir);
 
-        LOG_INFO("Network config: eulerOrder=%d, dirVectorInvert=%d, byteOrder=%d\n",
-                 configResult.eulerOrder, configResult.dirVectorInvert, configResult.byteOrder);
+        LOG_INFO("Network config: eulerOrder=%d, dirVectorInvert=%d, byteOrder=%d, longAxisDir=%d\n",
+                 configResult.eulerOrder, configResult.dirVectorInvert, configResult.byteOrder, configResult.longAxisDir);
     }
 
     // 6. 解析手眼标定矩阵列表（支持多相机）
@@ -195,6 +196,7 @@ bool CVrConfig::SaveConfig(const std::string& filePath, ConfigResult& configResu
     networkElement->SetAttribute("eulerOrder", configResult.eulerOrder);
     networkElement->SetAttribute("dirVectorInvert", configResult.dirVectorInvert);
     networkElement->SetAttribute("byteOrder", configResult.byteOrder);
+    networkElement->SetAttribute("longAxisDir", configResult.longAxisDir);
     root->InsertEndChild(networkElement);
 
     // 6. 保存手眼标定矩阵列表（支持多相机）
diff --git a/App/RodAndBarPosition/RodAndBarPositionConfig/config/config.xml b/App/RodAndBarPosition/RodAndBarPositionConfig/config/config.xml
index f3dcc72c..d4e7f2d1 100644
--- a/App/RodAndBarPosition/RodAndBarPositionConfig/config/config.xml
+++ b/App/RodAndBarPosition/RodAndBarPositionConfig/config/config.xml
@@ -42,7 +42,7 @@
     <!-- 串口配置 -->
     <SerialConfig portName="COM6" baudRate="115200" dataBits="8" stopBits="1" parity="0" flowControl="0" enabled="false" />
     <!-- 网络参数 -->
-    <NetworkConfig eulerOrder="11" dirVectorInvert="0" byteOrder="0" />
+    <NetworkConfig eulerOrder="11" dirVectorInvert="0" byteOrder="0" longAxisDir="0" />
     <!-- 手眼标定矩阵 -->
     <HandEyeCalibMatrixs>
         <HandEyeCalibMatrix cameraIndex="1" m0="1" m1="0" m2="0" m3="0" m4="0" m5="1" m6="0" m7="0" m8="0" m9="0" m10="1" m11="0" m12="0" m13="0" m14="0" m15="1" eulerOrder="11"/>
diff --git a/AppUtils/UICommon/Inc/NetworkConfigWidget.h b/AppUtils/UICommon/Inc/NetworkConfigWidget.h
index cb2b4bf2..886ef5e9 100644
--- a/AppUtils/UICommon/Inc/NetworkConfigWidget.h
+++ b/AppUtils/UICommon/Inc/NetworkConfigWidget.h
@@ -15,6 +15,7 @@ struct NetworkConfigData
     int eulerOrder = 11;        // 欧拉角旋转顺序，默认11=外旋ZYX
     int dirVectorInvert = 0;    // 方向向量反向，默认0=不反向
     int byteOrder = 0;          // 字节序，默认0=大端序
+    int longAxisDir = 0;        // 目标物长边对应轴：0=X轴, 1=Y轴
 
     // PLC服务端配置（可选）
     QString plcServerIp = "192.168.0.88";
@@ -98,18 +99,21 @@ public:
     int eulerOrder() const;
     int dirVectorInvert() const;
     int byteOrder() const;
+    int longAxisDir() const;
 
 private:
     void setupUI(bool showPlcConfig, bool showTcpConfig);
     void initEulerOrderComboBox();
     void initDirVectorInvertComboBox();
     void initByteOrderComboBox();
+    void initLongAxisDirComboBox();
 
 private:
     // 通用配置控件
     QComboBox* m_comboEulerOrder;
     QComboBox* m_comboDirVectorInvert;
     QComboBox* m_comboByteOrder;
+    QComboBox* m_comboLongAxisDir;
 
     // PLC服务端配置控件（可选）
     QGroupBox* m_groupPlc;
diff --git a/AppUtils/UICommon/Src/NetworkConfigWidget.cpp b/AppUtils/UICommon/Src/NetworkConfigWidget.cpp
index 613acd84..ef1a9312 100644
--- a/AppUtils/UICommon/Src/NetworkConfigWidget.cpp
+++ b/AppUtils/UICommon/Src/NetworkConfigWidget.cpp
@@ -9,6 +9,7 @@ NetworkConfigWidget::NetworkConfigWidget(bool showPlcConfig, bool showTcpConfig,
     , m_comboEulerOrder(nullptr)
     , m_comboDirVectorInvert(nullptr)
     , m_comboByteOrder(nullptr)
+    , m_comboLongAxisDir(nullptr)
     , m_groupPlc(nullptr)
     , m_editPlcIp(nullptr)
     , m_editPlcPort(nullptr)
@@ -66,6 +67,16 @@ void NetworkConfigWidget::setupUI(bool showPlcConfig, bool showTcpConfig)
     labelDir->setStyleSheet(labelStyle);
     commonForm->addRow(labelDir, m_comboDirVectorInvert);
 
+    // 目标物长边对应轴
+    m_comboLongAxisDir = new QComboBox(this);
+    m_comboLongAxisDir->setFont(font);
+    m_comboLongAxisDir->setStyleSheet(comboStyle);
+    initLongAxisDirComboBox();
+    QLabel* labelLongAxis = new QLabel("长边对应轴:");
+    labelLongAxis->setFont(font);
+    labelLongAxis->setStyleSheet(labelStyle);
+    commonForm->addRow(labelLongAxis, m_comboLongAxisDir);
+
     // 数据字节序
     m_comboByteOrder = new QComboBox(this);
     m_comboByteOrder->setFont(font);
@@ -166,6 +177,13 @@ void NetworkConfigWidget::initByteOrderComboBox()
     m_comboByteOrder->setCurrentIndex(0);  // 默认大端序
 }
 
+void NetworkConfigWidget::initLongAxisDirComboBox()
+{
+    m_comboLongAxisDir->addItem("X轴", 0);
+    m_comboLongAxisDir->addItem("Y轴", 1);
+    m_comboLongAxisDir->setCurrentIndex(0);  // 默认X轴
+}
+
 void NetworkConfigWidget::setConfig(const NetworkConfigData& config)
 {
     // 欧拉角旋转顺序
@@ -176,6 +194,10 @@ void NetworkConfigWidget::setConfig(const NetworkConfigData& config)
     idx = m_comboDirVectorInvert->findData(config.dirVectorInvert);
     if (idx >= 0) m_comboDirVectorInvert->setCurrentIndex(idx);
 
+    // 长边对应轴
+    idx = m_comboLongAxisDir->findData(config.longAxisDir);
+    if (idx >= 0) m_comboLongAxisDir->setCurrentIndex(idx);
+
     // 字节序
     idx = m_comboByteOrder->findData(config.byteOrder);
     if (idx >= 0) m_comboByteOrder->setCurrentIndex(idx);
@@ -197,6 +219,7 @@ NetworkConfigData NetworkConfigWidget::getConfig() const
     config.eulerOrder = m_comboEulerOrder->currentData().toInt();
     config.dirVectorInvert = m_comboDirVectorInvert->currentData().toInt();
     config.byteOrder = m_comboByteOrder->currentData().toInt();
+    config.longAxisDir = m_comboLongAxisDir->currentData().toInt();
 
     if (m_editPlcIp) config.plcServerIp = m_editPlcIp->text().trimmed();
     if (m_editPlcPort) config.plcServerPort = m_editPlcPort->text().toInt();
@@ -211,3 +234,4 @@ NetworkConfigData NetworkConfigWidget::getConfig() const
 int NetworkConfigWidget::eulerOrder() const { return m_comboEulerOrder->currentData().toInt(); }
 int NetworkConfigWidget::dirVectorInvert() const { return m_comboDirVectorInvert->currentData().toInt(); }
 int NetworkConfigWidget::byteOrder() const { return m_comboByteOrder->currentData().toInt(); }
+int NetworkConfigWidget::longAxisDir() const { return m_comboLongAxisDir->currentData().toInt(); }
diff --git a/Module/HandEyeCalib/HandEyeCalib.pro b/Module/HandEyeCalib/HandEyeCalib.pro
index 9b3e6e74..758fd3dd 100644
--- a/Module/HandEyeCalib/HandEyeCalib.pro
+++ b/Module/HandEyeCalib/HandEyeCalib.pro
@@ -32,6 +32,7 @@ INCLUDEPATH += $$PWD/../../SDK/eigen-3.3.9
 
 # common inc
 INCLUDEPATH += $$PWD/../../Utils/VrCommon/Inc
+INCLUDEPATH += $$PWD/../../Utils/VrUtils/Inc
 
 # Default rules for deployment.
 unix {
diff --git a/Module/HandEyeCalib/Inc/HandEyeCalibTypes.h b/Module/HandEyeCalib/Inc/HandEyeCalibTypes.h
index 9170de97..c8b49f3c 100644
--- a/Module/HandEyeCalib/Inc/HandEyeCalibTypes.h
+++ b/Module/HandEyeCalib/Inc/HandEyeCalibTypes.h
@@ -72,6 +72,16 @@ enum class HECCalibrationType
     EyeInHand   // 眼在手上：相机安装在末端，求相机到末端的变换
 };
 
+/**
+ * @brief 目标物长边对应的坐标轴
+ * 决定构建坐标系时哪个方向向量作为长边（主轴）种子
+ */
+enum class HECLongAxisDir
+{
+    AxisX = 0,  // 长边对应 X 轴（inputDirA 作为 X 轴种子）
+    AxisY = 1   // 长边对应 Y 轴（inputDirA 作为 Y 轴种子）
+};
+
 /**
  * @brief 欧拉角旋转顺序枚举（外旋 extrinsic）
  * 外旋：所有旋转都绕固定的世界坐标系轴进行
diff --git a/Module/HandEyeCalib/Inc/IHandEyeCalib.h b/Module/HandEyeCalib/Inc/IHandEyeCalib.h
index 135fa9bb..f9f0b08a 100644
--- a/Module/HandEyeCalib/Inc/IHandEyeCalib.h
+++ b/Module/HandEyeCalib/Inc/IHandEyeCalib.h
@@ -136,6 +136,32 @@ public:
         bool invertYZ,
         HECPoseResult& poseResult) = 0;
 
+    /**
+     * @brief Convert eye-frame center + XZ seed directions to robot-frame pose.
+     *
+     * Builds a right-handed frame from xSeed (X axis) and zSeed (Z axis),
+     * applies the dirVectorInvert flip, transforms position and orientation through
+     * the hand-eye calibration, and returns the result in degrees.
+     *
+     * @param calibResult     Hand-eye calibration result (R, T)
+     * @param eyeCenter       Object center in eye (camera) frame
+     * @param xSeed           X-axis seed direction in eye frame
+     * @param zSeed           Z-axis seed direction in eye frame
+     * @param dirVectorInvert Axis-flip mode: 0=none, 1=flip XY, 2=flip XZ, 3=flip YZ
+     * @param eulerOrder      Euler angle decomposition order
+     * @param poseResult      Output robot-frame position (mm) and Euler angles (degrees)
+     * @return true if the seed vectors form a valid frame, false otherwise
+     */
+    virtual bool TransformPose(
+        const HECCalibResult& calibResult,
+        const HECPoint3D& eyeCenter,
+        const HECPoint3D& longAxisDir,
+        const HECPoint3D& normalDir,
+        int dirVectorInvert,
+        HECEulerOrder eulerOrder,
+        HECLongAxisDir longAxisMapping,
+        HECPoseResult& poseResult) = 0;
+
     /**
      * @brief 计算标定误差
      * @param eyePoints 眼坐标系下的点集
diff --git a/Module/HandEyeCalib/Src/HandEyeCalib.cpp b/Module/HandEyeCalib/Src/HandEyeCalib.cpp
index ab8f8dcb..6983dd94 100644
--- a/Module/HandEyeCalib/Src/HandEyeCalib.cpp
+++ b/Module/HandEyeCalib/Src/HandEyeCalib.cpp
@@ -4,6 +4,7 @@
 
 #include "HandEyeCalib.h"
 #include "VrError.h"
+#include "VrLog.h"
 #include <Eigen/Dense>
 #include <Eigen/SVD>
 #include <cmath>
@@ -321,6 +322,111 @@ void HandEyeCalib::TransformPose(
     RotationMatrixToEulerZYX(R_pose, poseResult.angles);
 }
 
+bool HandEyeCalib::TransformPose(
+    const HECCalibResult& calibResult,
+    const HECPoint3D& eyeCenter,
+    const HECPoint3D& longAxisDir,
+    const HECPoint3D& normalDir,
+    int dirVectorInvert,
+    HECEulerOrder eulerOrder,
+    HECLongAxisDir longAxisMapping,
+    HECPoseResult& poseResult)
+{
+    auto cross = [](const HECPoint3D& a, const HECPoint3D& b) {
+        return HECPoint3D(a.y*b.z - a.z*b.y, a.z*b.x - a.x*b.z, a.x*b.y - a.y*b.x);
+    };
+    auto dot = [](const HECPoint3D& a, const HECPoint3D& b) {
+        return a.x*b.x + a.y*b.y + a.z*b.z;
+    };
+
+    HECPoint3D xAxis, yAxis, zAxis;
+
+    if (longAxisMapping == HECLongAxisDir::AxisY) {
+        // Long axis maps to Y: Y = longAxisDir, Z = normalDir, X = cross(Y, Z)
+        yAxis = longAxisDir.normalized();
+        zAxis = normalDir.normalized();
+        if (yAxis.norm() < 1e-6 || zAxis.norm() < 1e-6) return false;
+
+        zAxis = (zAxis - yAxis * dot(yAxis, zAxis)).normalized();
+        if (zAxis.norm() < 1e-6) return false;
+
+        xAxis = cross(yAxis, zAxis).normalized();
+        if (xAxis.norm() < 1e-6) return false;
+
+        zAxis = cross(xAxis, yAxis).normalized();
+        if (zAxis.norm() < 1e-6) return false;
+    } else {
+        // Long axis maps to X (default): X = longAxisDir, Z = normalDir, Y = cross(Z, X)
+        xAxis = longAxisDir.normalized();
+        zAxis = normalDir.normalized();
+        if (xAxis.norm() < 1e-6 || zAxis.norm() < 1e-6) return false;
+
+        zAxis = (zAxis - xAxis * dot(xAxis, zAxis)).normalized();
+        if (zAxis.norm() < 1e-6) return false;
+
+        yAxis = cross(zAxis, xAxis).normalized();
+        if (yAxis.norm() < 1e-6) return false;
+
+        zAxis = cross(xAxis, yAxis).normalized();
+        if (zAxis.norm() < 1e-6) return false;
+    }
+
+    // Compute eye-frame Euler angles before flip
+    HECRotationMatrix eyeR;
+    eyeR.at(0, 0) = xAxis.x; eyeR.at(0, 1) = yAxis.x; eyeR.at(0, 2) = zAxis.x;
+    eyeR.at(1, 0) = xAxis.y; eyeR.at(1, 1) = yAxis.y; eyeR.at(1, 2) = zAxis.y;
+    eyeR.at(2, 0) = xAxis.z; eyeR.at(2, 1) = yAxis.z; eyeR.at(2, 2) = zAxis.z;
+    HECEulerAngles eyeEuler;
+    RotationMatrixToEuler(eyeR, eulerOrder, eyeEuler);
+    double eyeRollDeg, eyePitchDeg, eyeYawDeg;
+    eyeEuler.toDegrees(eyeRollDeg, eyePitchDeg, eyeYawDeg);
+    LOG_INFO("[HandEyeCalib] Eye Frame (longAxisMapping=%d) Euler (deg): Roll=%.6f, Pitch=%.6f, Yaw=%.6f\n",
+             static_cast<int>(longAxisMapping), eyeRollDeg, eyePitchDeg, eyeYawDeg);
+
+    std::vector<HECPoint3D> dirVectors = { xAxis, yAxis, zAxis };
+
+    // Apply axis flip
+    switch (dirVectorInvert) {
+    case 1:
+        dirVectors[0] = dirVectors[0] * (-1.0);
+        dirVectors[1] = dirVectors[1] * (-1.0);
+        break;
+    case 2:
+        dirVectors[0] = dirVectors[0] * (-1.0);
+        dirVectors[2] = dirVectors[2] * (-1.0);
+        break;
+    case 3:
+        dirVectors[1] = dirVectors[1] * (-1.0);
+        dirVectors[2] = dirVectors[2] * (-1.0);
+        break;
+    default:
+        break;
+    }
+
+    // Transform position
+    TransformPoint(calibResult.R, calibResult.T, eyeCenter, poseResult.position);
+
+    // Rotate direction vectors and build rotation matrix
+    std::vector<HECPoint3D> robotDirs(3);
+    for (int i = 0; i < 3; ++i) {
+        RotatePoint(calibResult.R, dirVectors[i], robotDirs[i]);
+    }
+
+    HECRotationMatrix R_pose;
+    R_pose.at(0, 0) = robotDirs[0].x; R_pose.at(0, 1) = robotDirs[1].x; R_pose.at(0, 2) = robotDirs[2].x;
+    R_pose.at(1, 0) = robotDirs[0].y; R_pose.at(1, 1) = robotDirs[1].y; R_pose.at(1, 2) = robotDirs[2].y;
+    R_pose.at(2, 0) = robotDirs[0].z; R_pose.at(2, 1) = robotDirs[1].z; R_pose.at(2, 2) = robotDirs[2].z;
+
+    // Decompose to Euler angles (radians), then convert to degrees
+    HECEulerAngles euler;
+    RotationMatrixToEuler(R_pose, eulerOrder, euler);
+    double rollDeg, pitchDeg, yawDeg;
+    euler.toDegrees(rollDeg, pitchDeg, yawDeg);
+    poseResult.angles = HECEulerAngles::fromDegrees(rollDeg, pitchDeg, yawDeg);
+
+    return true;
+}
+
 double HandEyeCalib::CalculateError(
     const std::vector<HECPoint3D>& eyePoints,
     const std::vector<HECPoint3D>& robotPoints,
diff --git a/Module/HandEyeCalib/_Inc/HandEyeCalib.h b/Module/HandEyeCalib/_Inc/HandEyeCalib.h
index 34aab5b8..8560af95 100644
--- a/Module/HandEyeCalib/_Inc/HandEyeCalib.h
+++ b/Module/HandEyeCalib/_Inc/HandEyeCalib.h
@@ -67,6 +67,16 @@ public:
         bool invertYZ,
         HECPoseResult& poseResult) override;
 
+    bool TransformPose(
+        const HECCalibResult& calibResult,
+        const HECPoint3D& eyeCenter,
+        const HECPoint3D& longAxisDir,
+        const HECPoint3D& normalDir,
+        int dirVectorInvert,
+        HECEulerOrder eulerOrder,
+        HECLongAxisDir longAxisMapping,
+        HECPoseResult& poseResult) override;
+
     double CalculateError(
         const std::vector<HECPoint3D>& eyePoints,
         const std::vector<HECPoint3D>& robotPoints,