When drawing, the apparent mismatch between the center and the bounding box is caused by the conversion from spherical to Cartesian (if two vertices of the bounding box are at the same radius it wont draw a plane), but that is a good start to express dimension of detected obstacles.
When drawing, the apparent mismatch between the center and the bounding box is caused by the conversion from spherical to Cartesian (if two vertices of the bounding box are at the same radius it wont draw a plane), but that is a good start to express dimension of detected obstacles.