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Obtaining joint angles from joint TFs?

Hi, I am currently using openni_tracker to tele-op a robot arm using an RGBD sensor. I am able to obtain the joint positions and orientations using openni_tracker, which publishes a TF with respect to the camera frame for every joint. I am getting confused when I think about how I can convert this into relative orientation of each joint, which I can then pass to t he robot control. For each joint, I am interested in two angles: the up-down motion angle and the sideways angle, and I feel that TF is giving me way more data than what's really relevant to me. Any suggestions will be very helpful.

Thanks, Sai