Hi
I have done some 6D Pose estimation, and have the Oriented Bounding Box (OBB) of the detected object. So, now I would like to know the ground truth and get the error of the estimated orientation and the position. The detected object is a rectangular box as shown in the image. 
The red box in the image is the object and the black one is the estimated 6DPose.
So would like to do image postprocessing to get the error of the position and the orientation. So, how can get the error from this image, knowing the real dimensions of the box, camera parameters, and the distance from the camera to the object? Should I draw lines of the box and the 6D pose marker(black box) and get the distance and the angle between two lines or?
Thanks