pyrobosim.utils.polygon.convhull_to_rectangle
- pyrobosim.utils.polygon.convhull_to_rectangle(points)
Find the smallest bounding rectangle for a set of points. Returns a set of points representing the corners of the bounding box.
- Parameters:
points (
numpy.ndarray) – an Nx2 matrix of convex hull XY coordinates- Returns:
A tuple of rectangle origin pose and XY dimensions
- Return type:
(
pyrobosim.utils.pose.Pose, list[float])