diff --git a/keypoint_pose/keypoint_pose/keypoint_node.py b/keypoint_pose/keypoint_pose/keypoint_node.py
index d1de9d4..7ccc468 100644
--- a/keypoint_pose/keypoint_pose/keypoint_node.py
+++ b/keypoint_pose/keypoint_pose/keypoint_node.py
@@ -60,7 +60,7 @@ def draw_keypoints(frame, keypoints, keypoint_scores, threshold=0.3):
                         0 <= pt2[0] < w and 0 <= pt2[1] < h):
                     cv2.line(frame, pt1, pt2, (0, 255, 0), 2)
 
-        for idx, (kp, score) in enumerate(zip(person_kps, person_scores)):
+        for kp, score in zip(person_kps, person_scores):
             if score > threshold:
                 x, y = int(kp[0]), int(kp[1])
                 if 0 <= x < w and 0 <= y < h:
@@ -379,9 +379,11 @@ class KeypointTriangulationNode(Node):
         # Triangulate every mutually-confident keypoint
         all_points_3d = []
         avg_distances = []   # per-person average distance (75%+ conf kps only)
+        avg_coords = []      # per-person mean (x, y, z) of 75%+ conf kps
         for lp, rp in matches:
             person_pts = {}  # kp_idx -> (xyz, residual)
             high_conf_dists = []
+            high_conf_pts = []
             for kp_idx in range(17):
                 if (lp['scores'][kp_idx] <= self._threshold or
                         rp['scores'][kp_idx] <= self._threshold):
@@ -400,11 +402,14 @@ class KeypointTriangulationNode(Node):
                     if (lp['scores'][kp_idx] >= DIST_THRESHOLD and
                             rp['scores'][kp_idx] >= DIST_THRESHOLD):
                         high_conf_dists.append(np.linalg.norm(pt3d))
+                        high_conf_pts.append(pt3d)
 
             if person_pts:
                 all_points_3d.append(person_pts)
                 avg_distances.append(
                     float(np.mean(high_conf_dists)) if high_conf_dists else None)
+                avg_coords.append(
+                    np.mean(high_conf_pts, axis=0) if high_conf_pts else None)
 
         # Publish 3D markers
         self._marker_pub.publish(
@@ -417,15 +422,22 @@ class KeypointTriangulationNode(Node):
         cv2.putText(dist_frame, 'Avg distance  (>=75% conf keypoints)',
                     (20, 70), cv2.FONT_HERSHEY_SIMPLEX, 2.0, (180, 180, 180), 3)
         if avg_distances:
-            for i, d in enumerate(avg_distances):
+            for i, (d, xyz) in enumerate(zip(avg_distances, avg_coords)):
                 if d is not None:
                     txt = f'Person {i + 1}: {d:.2f} m'
                     color = (100, 255, 100)
+                    coord_txt = f'x={xyz[0]:+.3f}  y={xyz[1]:+.3f}  z={xyz[2]:+.3f}  [m, left cam frame]'
+                    coord_color = (160, 160, 160)
                 else:
                     txt = f'Person {i + 1}: -- (no 75%+ kps)'
                     color = (80, 80, 200)
+                    coord_txt = ''
+                    coord_color = (80, 80, 80)
                 cv2.putText(dist_frame, txt, (20, 140 + i * row_h),
                             cv2.FONT_HERSHEY_SIMPLEX, 4.5, color, 8)
+                if coord_txt:
+                    cv2.putText(dist_frame, coord_txt, (28, 140 + i * row_h + 70),
+                                cv2.FONT_HERSHEY_SIMPLEX, 1.4, coord_color, 2)
         else:
             cv2.putText(dist_frame, 'No people detected', (20, 200),
                         cv2.FONT_HERSHEY_SIMPLEX, 4.0, (100, 100, 100), 6)