bounds op• Data kinds: points → primitive
• Call: import fullseye as fs; fs.ledger.obb(points) -> 'dict' (to call the implementation directly, import pcseg; pcseg.obb(points) -> 'dict'; from the registry, ops3d.get("obb"))
Oriented bounding box by PCA.
> The detailed description below is the original text — the summary and the headings are translated.
Returns ``{center, axes (3,3 columns = box axes), extents (3, half-widths),
corners (8,3)}``. The tight-fitting box a manipulator uses to reason about an
object's size and grasp width once it has been segmented out.
手順: 重心 `c を引いた点群の SVD(full_matrices=False)で主軸 axes`(列 = 特異値の降順、
第 1 列が最も広がる方向)を取り、点を主軸座標に写して各軸の min/max から半幅 `extents` と
箱中心 `center(重心とは一般に異なる)を求める。corners は center + (±extents) @ axes.T`
の 8 点で、符号の組合せは `meshgrid([-1,1],[-1,1],[-1,1])` の順。
• `points: (N,3) 以外は ValueError、2 点未満も ValueError`。
• PCA の主軸は「最小体積の箱」を保証しない(点の分布に沿うだけ)。主軸の符号は SVD の任意性で
決まり、点の分布が等方に近い(特異値が縮退する)と軸の向きは不安定になる。
• `extents は半幅なので辺長は 2 * extents`。単位は座標の単位。
• blender_interop — Blender との併用 — 形を作って fullseye で測る(軸・単位・正解データの罠)
• Sample-data catalog (download URLs / licences) — 2-D uses skimage.data (BSD/public domain) plus synthetic images; 3-D lists download URLs for real data sources (Stanford, PDS, …).
• Operator provenance and references — the sources of the research/methods this op family came from.
• hull_bounds — py -3.11 examples_3d/hull_bounds.py
primitive as input)fuse_to_voxel · angle_between_lines · angle_between_planes · angle_line_plane · distance_point_plane · distance_point_line · distance_line_line · distance_segment_segment
bounds)convex_hull · aabb · min_enclosing_sphere
*Provenance: pcseg.py — 3D operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.