miriamrebekah

@Mikor-mkr , did you have issues with the aruco mapping? I have had issues with the the point picking windows only showing up sometimes.

@ankitdhall, I have encountered the same issue. `point_cloud` seems to go out of scope inside `intensityByRangeDiff(point_cloud,config)`. After looping several times through the pointcloud in `intensityByRangeDiff()`, the function throws a `std::bad_alloc`....

@dkhanna511 @yulan0215 part of the issue seems to be in ```intensityByRangeDiff();``` I had to make a local version that fixed the first line of the function so that ```rings()``` is...

@renjiahao0928 have you figured this out yet?