Fix point cloud bounds #1656
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Fix point cloud bounds #1656
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getSquaredViewDepth() was not applying scene node transforms to the bounding box' center, resulting in incorrect squared distance to camera.
Compute *local* bounding radius from bounding box size.
Bounding sphere should be local to bounding box, not consider max length of point vectors. If the cloud is shifted strongly into some direction, those lengths will be large, although the bounding box (and sphere) can be small.
rhaschke
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This is a rework of #1644, targeted at Melodic.