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I forgot to add color to the marker and only added color to the points. I got the transparency effect by removing the following line:

scan_marker.colors.push_back(scan_color);

and adding the following line:

scan_marker.color = scan_color;

I forgot to add color to the marker and only added color to the points. I got the transparency effect by removing the following line:line

scan_marker.colors.push_back(scan_color);

and adding the following line:like outside the loop

scan_marker.color = scan_color;

I forgot to add color to the marker and only added color to the points. I got the transparency effect by removing the line

scan_marker.colors.push_back(scan_color);

and adding the following like line outside the loop

scan_marker.color = scan_color;