Theoretical density can be found by using rule of mixture formula for this please find the attached file. raw indicates density, and suffix c, f, and m denote composite, filler, and matrix by wt. percentage respectively.
Now, sintered sample density can be calculated experimentally by using Archimedes's principle ( initial wt. of sample before sinking in water and volume replaced by the sample after complete sinking).
First of all, I suggest a simple geometry to be sintered. If you decide to sinter a cylinder, my suggestion is to measure its size by means of coordinate measuring machine. Sliding calipers are reliable, but small deviations from actual measures may affect the calculation of volume, hence density in turn.
The approach of the Archimede's principle is right, but maybe you would also match this result with a microscopic analysis: you could investigate pores percentages in random cross-section with respect to the areal extent of the cross-section and give this as an indirect measure of relative (fractional) density. I discussed this in a paper of mine, if you are interested please check this DOI: 10.1177/0954405412441885