3D object Tracking

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I would tell u what i have done till now: 1) I am using two cameras and hence did internal calibration of two cameras. 2) Using alvar markers, i set up a world frame on the conveyor and then transformed the views of these two cameras from their respective camera frame to the world coordinate frame that i created with the alvar markers and finally stitched the images from the two cameras in world frame. 3) did point cloud pre processing like downsampling, pass through and clustering. Now the resultant view gives me point clouds with only the boxes with some noise.,

Next i need to measure the box dimesions and then perform tracking of the box. I tried bounding box method with PCL but it does not suit because it just draws a box on top of the object irrespective of the pose of the object.

as i said the boxes can be of different dimensions, i can't use a model to perform feature matching. I am really confused if i should be using point cloud library or opencv for this.

is there a solution?

Ah, well if you've got the point cloud, you're done with OpenCV. I don't know much about PCL, but THIS is vaguely related.

http://personal.ee.surrey.ac.uk/Perso... This was really interesting, but i don't know if it will fit my needs

Probably not. That would be for tracking before you generate the point cloud.

I'm pretty sure PCL has what you need. I suggest taking a look at their tutorials. Region Growing plus some simple post processing ought to find boxes pretty easily.