diff --git a/src/add_qr.py b/src/add_qr.py
index f115d494696da8ee1cd3a2b6704446ce6465d67b..095a8a3e1ae1db770956f3dd37a5d98857745619 100755
--- a/src/add_qr.py
+++ b/src/add_qr.py
@@ -37,12 +37,12 @@ from geometry_msgs.msg import TransformStamped, Transform
 
 def transform_to_json(tr):
     jobj = {
-        "translation": {
+        "tra": {
             "x": tr.translation.x,
             "y": tr.translation.y,
             "z": tr.translation.z
         },
-        "rotation": {
+        "rot": {
             "x": tr.rotation.x,
             "y": tr.rotation.y,
             "z": tr.rotation.z,
@@ -51,6 +51,17 @@ def transform_to_json(tr):
     }
     return jobj
 
+def json_to_transform(jobj):
+    res = Transform()
+    res.translation.x = jobj["tra"]["x"]
+    res.translation.y = jobj["tra"]["y"]
+    res.translation.z = jobj["tra"]["z"]
+    res.rotation.x = jobj["rot"]["x"]    
+    res.rotation.y = jobj["rot"]["y"]    
+    res.rotation.z = jobj["rot"]["z"]    
+    res.rotation.w = jobj["rot"]["w"]    
+    return res
+
 def header_to_json(data):
     jobj = {
         "seq": data.seq,
@@ -164,6 +175,10 @@ def image_callback(data):
                 decoded_data, _ = detector.decode(final_image, remembered_points)
                 if decoded_data:
                     print("DECODED DATA:", decoded_data)
+                    if options.qr_transform:
+                        jobj = json.loads(decoded_data)
+                        transform = json_to_transform(jobj)
+                        print("ROS TRANSFORM:", transform)
                 else:
                     print("DECODING FAILED!!!!!!!!!")