Nacho/fix clouds withouth intensity (#14)

* Fix visualizer failing when there was no colors or intensity

* Godd attempt but didn't work

src/lidar_visualizer/datasets/generic.py

@@ -110,12 +110,16 @@ def read_kitti_scan(file):
 
             def read_scan_with_intensities(file):
                 scan = self.o3d.t.io.read_point_cloud(file)
-                try:
-                    _ = hasattr(scan.point, "colors")
-                except KeyError:
+
+                if "colors" in dir(scan.point):
+                    return scan.to_legacy()
+
+                if "intensity" in dir(scan.point):
                     intensity = scan.point.intensity.numpy()
                     intensity = intensity / intensity.max()
                     scan.point.colors = self.cmap(intensity)[:, :, :3].reshape(-1, 3)
+
+                # else
                 return scan.to_legacy()
 
             return read_scan_with_intensities