diff --git a/src/rm_auto_aim/armor_detector/include/armor_detector/armor_reproject.hpp b/src/rm_auto_aim/armor_detector/include/armor_detector/armor_reproject.hpp
index e7800b9..1e94d57 100644
--- a/src/rm_auto_aim/armor_detector/include/armor_detector/armor_reproject.hpp
+++ b/src/rm_auto_aim/armor_detector/include/armor_detector/armor_reproject.hpp
@@ -50,12 +50,11 @@ namespace fyt::auto_aim {
 static inline std::vector<cv::Point3f> getArmorCornerPoints(bool is_big) {
   double w = is_big ? LARGE_ARMOR_WIDTH : SMALL_ARMOR_WIDTH;
   double h = is_big ? LARGE_ARMOR_HEIGHT : SMALL_ARMOR_HEIGHT;
-  // Rotate 90 degrees: y' = z, z' = -y
   return std::vector<cv::Point3f>{
-    cv::Point3f(0,  -h / 2, -w / 2),   // 0: bottom-left (rotated)
-    cv::Point3f(0,  h / 2, -w / 2),    // 1: top-left (rotated)
-    cv::Point3f(0,  h / 2, w / 2),     // 2: top-right (rotated)
-    cv::Point3f(0, -h / 2, w / 2)      // 3: bottom-right (rotated)
+    cv::Point3f(0,  w / 2, -h / 2),   // 0: bottom-left
+    cv::Point3f(0,  w / 2,  h / 2),   // 1: top-left
+    cv::Point3f(0, -w / 2,  h / 2),   // 2: top-right
+    cv::Point3f(0, -w / 2, -h / 2)    // 3: bottom-right
   };
 }
 
diff --git a/src/rm_auto_aim/armor_detector/src/armor_pose_estimator.cpp b/src/rm_auto_aim/armor_detector/src/armor_pose_estimator.cpp
index 5032476..b66403d 100644
--- a/src/rm_auto_aim/armor_detector/src/armor_pose_estimator.cpp
+++ b/src/rm_auto_aim/armor_detector/src/armor_pose_estimator.cpp
@@ -55,8 +55,7 @@ std::vector<rm_interfaces::msg::Armor> ArmorPoseEstimator::extractArmorPoses(
 
       double armor_roll = rotationMatrixToRPY(R_gimbal_camera_ * R)[0] * 180 / M_PI;
 
-      // Force roll=0, pitch=15 degrees for reprojection consistency
-      R = forceRPY(R, 0.0, 15.0);
+      // No forced roll/pitch - use original PnP result
 
       if (use_ba_ && std::abs(armor_roll) < 15) {
         // Use BA alogorithm to optimize the pose from PnP