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how to find the dimension of 3d object point cloud

asked 2015-08-21 23:33:36 -0600

dmngu9 gravatar image

Hi, im implementing a simple obstacle avoidance program. im up to separate object point cloud but they are all unorganized point cloud. How can i estimate the size of the object? for example, bounding box and find its vertices

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Have you had a look at the pcl? It contains tons of algorithms for this type of tasks.

NEngelhard gravatar imageNEngelhard ( 2015-08-22 05:43:44 -0600 )edit

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answered 2015-08-25 03:20:00 -0600

One option is to use the PCL , as suggested by NEngelhard. There's a tutorial on how to compute an oriented bounding box here. This algorithm is based on PCA (Principal Component Analysis), which works well for most "longish" objects; for more compact objects (like cubes), the computed bounding box is not optimal.

Alternatively, you could use octomap to generate a voxel map from your point cloud. It will give you a better estimate of the object's volume, and a much better approximation of its shape.

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Asked: 2015-08-21 23:33:36 -0600

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Last updated: Aug 25 '15