用matlab自写一个OBB包围盒

以下是用Matlab实现OBB包围盒的示例代码：

% 生成一组点云数据
points = rand(100, 3);

% 计算点云的均值和协方差矩阵
mean_point = mean(points, 1);
covariance = cov(points);

% 对协方差矩阵进行特征值分解
[V, D] = eig(covariance);

% 取特征值最大的三个特征向量作为OBB的三个轴
axis1 = V(:, 3)';
axis2 = V(:, 2)';
axis3 = V(:, 1)';

% 计算OBB的中心点
center = mean_point;

% 计算OBB的半轴长度
half_lengths = sqrt(diag(D))';

% 绘制OBB
hold on;
plot3(points(:, 1), points(:, 2), points(:, 3), 'b.');
draw_box(center, axis1, axis2, axis3, half_lengths);
axis equal;

其中，`draw_box`函数用于绘制OBB：

function draw_box(center, axis1, axis2, axis3, half_lengths)
    corners = zeros(8, 3);
    corners(1, :) = center - half_lengths(1) * axis1 - half_lengths(2) * axis2 - half_lengths(3) * axis3;
    corners(2, :) = center - half_lengths(1) * axis1 - half_lengths(2) * axis2 + half_lengths(3) * axis3;
    corners(3, :) = center - half_lengths(1) * axis1 + half_lengths(2) * axis2 - half_lengths(3) * axis3;
    corners(4, :) = center - half_lengths(1) * axis1 + half_lengths(2) * axis2 + half_lengths(3) * axis3;
    corners(5, :) = center + half_lengths(1) * axis1 - half_lengths(2) * axis2 - half_lengths(3) * axis3;
    corners(6, :) = center + half_lengths(1) * axis1 - half_lengths(2) * axis2 + half_lengths(3) * axis3;
    corners(7, :) = center + half_lengths(1) * axis1 + half_lengths(2) * axis2 - half_lengths(3) * axis3;
    corners(8, :) = center + half_lengths(1) * axis1 + half_lengths(2) * axis2 + half_lengths(3) * axis3;
    edges = [1 2; 1 3; 1 5; 2 4; 2 6; 3 4; 3 7; 4 8; 5 6; 5 7; 6 8; 7 8];
    for i = 1:size(edges, 1)
        line([corners(edges(i, 1), 1), corners(edges(i, 2), 1)], [corners(edges(i, 1), 2), corners(edges(i, 2), 2)], [corners(edges(i, 1), 3), corners(edges(i, 2), 3)], 'Color', 'r');
    end
end

该函数接受OBB的中心点、三个轴和半轴长度作为参数，计算出OBB的八个顶点，并绘制出OBB的十二条边。