3D Box Tracking:Transformation Frame

[ACroo2]

I am new to the RealSense line of 3D cameras and purchased a D415 and D435 in hopes of tracking a package in real space such as the image here:

I want to use the coordinate system from the closest edge of a box to interface with a robot arm to then manipulate the box. Are there any recommendations or tutorials on where to start with the SDK and library to publish the xyz distances and rpy of the side of a box? Thanks!

[MartyG · Accepted solution]

The SDK software of the 400 Series cameras has a tutorial for measuring an object.

https://github.com/IntelRealSense/librealsense/tree/master/examples/measure librealsense/examples/measure at master · IntelRealSense/librealsense · GitHub

[ACroo2]

I'll start there, thank you