OBB bounding Box not correct

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I use this code to compute and visualize the bounding box but it is not correct. Not sure why:

# Compute bounding boxes
import SegmentStatistics
segStatLogic = SegmentStatistics.SegmentStatisticsLogic()
segStatLogic.getParameterNode().SetParameter("Segmentation", segmentationNode.GetID())
segStatLogic.getParameterNode().SetParameter("LabelmapSegmentStatisticsPlugin.obb_origin_ras.enabled",str(True))
segStatLogic.getParameterNode().SetParameter("LabelmapSegmentStatisticsPlugin.obb_diameter_mm.enabled",str(True))
segStatLogic.getParameterNode().SetParameter("LabelmapSegmentStatisticsPlugin.obb_direction_ras_x.enabled",str(True))
segStatLogic.getParameterNode().SetParameter("LabelmapSegmentStatisticsPlugin.obb_direction_ras_y.enabled",str(True))
segStatLogic.getParameterNode().SetParameter("LabelmapSegmentStatisticsPlugin.obb_direction_ras_z.enabled",str(True))
segStatLogic.computeStatistics()
stats = segStatLogic.getStatistics()

# Draw ROI for each oriented bounding box
import numpy as np
for segmentId in stats["SegmentIDs"]:
  # Get bounding box
  obb_origin_ras = np.array(stats[segmentId,"LabelmapSegmentStatisticsPlugin.obb_origin_ras"])
  obb_diameter_mm = np.array(stats[segmentId,"LabelmapSegmentStatisticsPlugin.obb_diameter_mm"])
  obb_direction_ras_x = np.array(stats[segmentId,"LabelmapSegmentStatisticsPlugin.obb_direction_ras_x"])
  obb_direction_ras_y = np.array(stats[segmentId,"LabelmapSegmentStatisticsPlugin.obb_direction_ras_y"])
  obb_direction_ras_z = np.array(stats[segmentId,"LabelmapSegmentStatisticsPlugin.obb_direction_ras_z"])
  # Create ROI
  segment = segmentationNode.GetSegmentation().GetSegment(segmentId)
  roi=slicer.mrmlScene.AddNewNodeByClass("vtkMRMLMarkupsROINode")
  roi.SetName(segment.GetName() + " OBB")
  roi.GetDisplayNode().SetHandlesInteractive(False)  # do not let the user resize the box
  roi.SetSize(obb_diameter_mm)
  # Position and orient ROI using a transform
  obb_center_ras = obb_origin_ras+0.5*(obb_diameter_mm[0] * obb_direction_ras_x + obb_diameter_mm[1] * obb_direction_ras_y + obb_diameter_mm[2] * obb_direction_ras_z)
  boundingBoxToRasTransform = np.row_stack((np.column_stack((obb_direction_ras_x, obb_direction_ras_y, obb_direction_ras_z, obb_center_ras)), (0, 0, 0, 1)))
  boundingBoxToRasTransformMatrix = slicer.util.vtkMatrixFromArray(boundingBoxToRasTransform)
  roi.SetAndObserveObjectToNodeMatrix(boundingBoxToRasTransformMatrix)

image
image1401×669 23.3 KB

Thanks for your suggestions on how to correct this ?