Expose minimal oriented bounding box to python api (#6946)

---------
Co-authored-by: Sharon Berezalsky <sharon@buildots.com>

cpp/pybind/geometry/boundingvolume.cpp

@@ -83,6 +83,27 @@ The returned bounding box is an approximation to the minimal bounding box.
      open3d.geometry.OrientedBoundingBox: The oriented bounding box. The
      bounding box is oriented such that the axes are ordered with respect to
      the principal components.
+)doc")
+            .def_static("create_from_points_minimal",
+                        &OrientedBoundingBox::CreateFromPointsMinimal,
+                        "points"_a, "robust"_a = false,
+                        R"doc(
+Creates the oriented bounding box with the smallest volume.
+
+The algorithm makes use of the fact that at least one edge of
+the convex hull must be collinear with an edge of the minimum
+bounding box: for each triangle in the convex hull, calculate
+the minimal axis aligned box in the frame of that triangle.
+at the end, return the box with the smallest volume
+
+Args:
+     points (open3d.utility.Vector3dVector): Input points.
+     robust (bool): If set to true uses a more robust method which works in
+          degenerate cases but introduces noise to the points coordinates.
+
+Returns:
+     open3d.geometry.OrientedBoundingBox: The oriented bounding box. The
+     bounding box is oriented such that its volume is minimized.
 )doc")
             .def("volume", &OrientedBoundingBox::Volume,
                  "Returns the volume of the bounding box.")