2D bounding box from PCL point-cloud

Question

I have a 3D PCL point cloud (XYZ, or type: pcl::PointCloud<pcl::PointXYZ>) that has already been segmented and contains the object of interest.

I would like to find the 2D (X & Y, assuming Z is vertical) minimum bounding box that encompasses all the points, and then recover the 4 corners coordinates (X, Y) of this box. The box doesn't have to be axis-aligned

What is the best way to do this using PCL?n