下面是我写的包围盒代码，他并没有包围着我所给出的点。我给出了两个点，并由此延伸出来8个点，所有可以构建三维的obb包围盒。请各位大佬帮我看一下我的代码哪里错了。

x1=1600;x2=1430;

y1=1600;y2=1430;

z1=584.6;z2=584.6;

inputdata = [x1-r,y1,z1;x2-r,y2,z2;x1,y1,z1;x2,y2,z2;x1+r,y1,z1;x2+r,y2,z2;x1-r,y1,z1+h;x2-r,y2,z2+h;x1+r,y1,z1+h;x2+r,y2,z2+h]';

theta=acos(dot((a),(b))/(norm(a)*norm(b)))*180/3.1415;

inputada1 = inputdata*theta;

[m,n] = size(inputdata);%获得输入数据的维度

cov = zeros(m,m);%创建协方差矩阵

E = zeros(m,1);%得到矩阵的列数

%获得每维数据的平均值

for i = 1:m

E(i) = mean(inputdata(i,:),2);%bmean(X,1)为列向量的均值，mean(X,2)为行向量的均值。

end

%计算协方差

for i = 1:m

for j = 1:m

cov(i,j) = ((inputdata(i,:)-E(i))*(inputdata(j,:)-E(j))')./(n-1);

s = cov(i,j);

[d,v] = eig(s);%求出协方差矩阵的特征向量,d为特征值矩阵，v为特征向量矩阵

%施密特正交化 变成标准基

end

end

s = cov;

[v,d] = eig(s);%求出协方差矩阵的特征向量,v为特征值矩阵，d为特征向量矩阵

%施密特正交化 变成标准基

[m1,n1] = size(v);%求出特征向量v行和列的大小

b = zeros(m1,n1);

%  %正交化

b(:,1) = v(:,1);

for i1 = 2:n1

for j1 = 1:i1-1

b(:,i1) = b(:,i1)-dot(v(:,i1),b(:,j1))/dot(b(:,j1),b(:,j1))*b(:,j1);

end

b(:,i1) = b(:,i1)+v(:,i1);

end

%单位化

% % for k=1:n1

% %      b(:,k)=b(:,k)/norm(b(:,k));

% % end

coordMapped1 =(inputdata(1,:)-E(1,1));

coordMapped2 =(inputdata(2,:)-E(2,1));

coordMapped3 =(inputdata(3,:)-E(3,1));

coordMapped = [coordMapped1;coordMapped2;coordMapped3]';

New = coordMapped*b;

minExtent = min(coordMapped);

maxExtent = max(coordMapped);

%%半长度

half.x = (maxExtent(1,1)-minExtent(1,1))/2;

half.y = (maxExtent(1,2)-minExtent(1,2))/2;

half.z = (maxExtent(1,3)-minExtent(1,3))/2;

%%中心点

center = (maxExtent+minExtent)/2;

%offSet = (maxExtent-minExtent)/2+minExtent;

%%建立包围盒

weight = [half.x,half.y,half.z;half.x,-half.y,half.z;-half.x,half.y,half.z;-half.x,-half.y,half.z;half.x,half.y,-half.z;half.x,-half.y,-half.z;-half.x,half.y,-half.z;-half.x,-half.y,-half.z];

coord = center + weight;%*offSet';

coord = [coord;center];

这个哪部分写错了，求指教

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