Fix PointCloudRenderable::getBoundingRadius()

rhaschke · rhaschke · commit a885152699c8 · 2021-08-21T04:39:36.000+02:00
Compute *local* bounding radius from bounding box size.
diff --git a/src/rviz/ogre_helpers/point_cloud.cpp b/src/rviz/ogre_helpers/point_cloud.cpp
@@ -813,7 +813,7 @@ void PointCloudRenderable::_notifyCurrentCamera(Ogre::Camera* camera)
 
 Ogre::Real PointCloudRenderable::getBoundingRadius() const
 {
-  return Ogre::Math::Sqrt(std::max(mBox.getMaximum().squaredLength(), mBox.getMinimum().squaredLength()));
+  return mBox.getHalfSize().length();
 }
 
 Ogre::Real PointCloudRenderable::getSquaredViewDepth(const Ogre::Camera* cam) const

Original file line number	Diff line number	Diff line change
`@@ -813,7 +813,7 @@ void PointCloudRenderable::_notifyCurrentCamera(Ogre::Camera* camera)`
`813`	`813`
`814`	`814`	`Ogre::Real PointCloudRenderable::getBoundingRadius() const`
`815`	`815`	`{`
`816`		`- return Ogre::Math::Sqrt(std::max(mBox.getMaximum().squaredLength(), mBox.getMinimum().squaredLength()));`
	`816`	`+ return mBox.getHalfSize().length();`
`817`	`817`	`}`
`818`	`818`
`819`	`819`	`Ogre::Real PointCloudRenderable::getSquaredViewDepth(const Ogre::Camera* cam) const`