This work proposes a system capable of obtaining the geometric measurements of a Yagi antenna using digital image processing. The objective is to obtain the measurements automatically in 3D using the CST STUDIO software, which is a program specializing in electromagnetic simulations in 3D. The antenna images are acquired by means of a depth sensor and an RGB sensor. By applying image processing techniques such as thresholding, morphology, filtering, and segmentation, the image obtained by the RGB sensor will identify the parts that are comprised by the antenna and their measurements in pixels. Through the image obtained with the depth sensor, it will be possible to transform said measurements from pixels into a unit of length. To obtain these measurements with the least possible error, the system processes 30 samples and averages them to obtain the final measurements. With this process, it was possible to obtain a measurement error of 0.16 cm.