bounds

voxel.bounds.obbox(points, initialize=True, fine_tune=True) -> BoundingBox

Compute an oriented bounding box (OBB).

Parameters:

• points (Tensor) –

  Coordinate point cloud of shape (N, 3).

• initialize (bool, default: True ) –

  Whether to initialize the rotation with PCA.

• fine_tune (bool, default: True ) –

  Whether to fine-tune the bounds to minimize the volume.

Returns:

• BoundingBox –

  Oriented bounding box.

voxel.bounds.obbox_pca(points) -> BoundingBox

Compute an oriented bounding box (OBB) using PCA.

Parameters:

• points (Tensor) –

  Coordinate point cloud of shape (N, 3).

Returns:

• BoundingBox –

  Oriented bounding box.

voxel.bounds.obbox_fine_tune(points, initial_rotation=None) -> BoundingBox

Fine-tune an oriented bounding box (OBB) to minimize the volume of the box enclosing a point cloud.

Parameters:

• points (Tensor) –

  Coordinate point cloud of shape (N, 3).

• initial_rotation (Tensor, default: None ) –

  Initial rotation matrix of shape (3, 3).

Returns:

• BoundingBox –

  Oriented bounding box.