diff --git a/tracker.py b/tracker.py
index f0588c2..26f8305 100644
--- a/tracker.py
+++ b/tracker.py
@@ -783,8 +783,10 @@ class Tracker():
             face_info.translation = np.array([0.0, 0.0, 0.0], np.float32)
             return False, np.zeros(4), np.zeros(3), 99999., pts_3d, lms
         else:
-            face_info.rotation = np.transpose(face_info.rotation)
-            face_info.translation = np.transpose(face_info.translation)
+            # OpenCV returns (3,1); flatten so [0]/[1]/[2] are scalars for UDP packing
+            # and 1D .dot() math does not broadcast to (1,3).
+            face_info.rotation = np.asarray(face_info.rotation, dtype=np.float32).reshape(3)
+            face_info.translation = np.asarray(face_info.translation, dtype=np.float32).reshape(3)
 
         rmat, _ = cv2.Rodrigues(rotation)
         inverse_rotation = np.linalg.inv(rmat)
@@ -833,7 +835,7 @@ class Tracker():
                 reference = rmat.dot(pt)
                 reference = reference + face_info.translation
                 reference = self.camera.dot(reference)
-                depth = reference[2]
+                depth = float(reference[2])
                 pt_3d = np.array([lms[66+i][0] * depth, lms[66+i][1] * depth, depth], np.float32)
                 pt_3d = self.inverse_camera.dot(pt_3d)
                 pt_3d = pt_3d - face_info.translation