Rotation of AABB

I am axis aligned bounding box for vehicle tracking application. I need yaw
information for my tracking but i am not able to get yaw from the AABB. Is
there any way to rotate AABB according to the object? I am getting bounding
boxes like these now.

<http://www.pcl-users.org/file/t499242/AABB.png> 


I tried the OOBB too but since the points reflected back from the vehicle
covers only partial vehicle surfaces the OOBB is trying to get squeezed to
accommodate the cloud. Reference image below

<http://www.pcl-users.org/file/t499242/oobb.png> 


PS: I found a solution for this .. Thank you



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Found a solution for this. I restricted the rotation of OOBB only wth respect
to the z axis



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