pyrobosim.utils.polygon.convhull_to_rectangle

pyrobosim.utils.polygon.convhull_to_rectangle(points: ndarray) → tuple[Pose, list[float], ndarray]

Find the smallest bounding rectangle for a set of points. Returns a set of points representing the corners of the bounding box.

Parameters:

points – an Nx2 matrix of convex hull XY coordinates

Returns:

A tuple of rectangle origin pose, XY dimensions, and the rectangle points.