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Fix misc point cloud ogre helper bounds issues #1644

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Fix misc point cloud ogre helper bounds issues #1644

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Commits on Jul 1, 2021

  1. ogre helpers point_cloud: fix bounding radius bug 

    The PointCloudRenderable returns an incorrect bounding radius when
the furthest corner of the box is not the minimum or maximum corner.

Use Ogre::Math::boundingRadiusFromAABB to return the correct value.
    C. Andy Martin committed Jul 1, 2021
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  2. ogre helpers point_cloud: fix bug in getSquaredViewDepth 

    getSquaredViewDepth was not applying scene node transforms to the
camera position, resulting in incorrect values of squared depth.

Instead, find the distance in world coordinates from the bounding
box to the camera.
    C. Andy Martin committed Jul 1, 2021
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  3. ogre helpers point_cloud: calculate bounding radius 

    Instead of calculating the bounding radius of the entire cloud as
we go, calculate it once at the end when updating the bounding
box by calling Ogre::Math::boundingRadiusFromAABB on the bounding box.
    C. Andy Martin committed Jul 1, 2021
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  4. ogre helpers point_cloud: add size into bounds 

    Add the size of the point visual into the bounding box.
For small or zero sized points this makes little difference,
but for large points (such as visualizing an octomap with
large compressed regions), it is important to add the bounds
to keep the points visible at the very edges of the cloud.
    C. Andy Martin committed Jul 1, 2021
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