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how to find the dimension of 3d object point cloud

asked 2015-08-21 23:33:36 -0500

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 image NEngelhard  ( 2015-08-22 05:43:44 -0500 )edit

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answered 2015-08-25 03:20:00 -0500

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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Hi. I have the 3D AABB from darknet_ros and need to get the OBB . I have the point clouds from the Depth camera so can set the ROI with min and max coordinate from the AABB. when look the PCL tutorial im not sure how to get the rotation matrix and and major and minor values. Any help?

Astronaut gravatar image Astronaut  ( 2020-04-16 22:37:37 -0500 )edit

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Asked: 2015-08-21 23:33:36 -0500

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Last updated: Aug 25 '15