include

include <pcl/point_cloud.h>

include <pcl/point_types.h>

include <pcl/visualization/cloud_viewer.h>

include <pcl/PCLHeader.h>

using namespace std;

int main(int argc, char** argv) { pcl::PointCloud::Ptr point_cloud_ptr(new pcl::PointCloud); uint8_t r(255), g(15), b(15);

for (float z(-1.0); z <= 1.0; z += 0.05)
{
    for (float angle(0.0); angle <= 360.0; angle += 5.0)
    {
        pcl::PointXYZRGB point;
        point.x = 0.5 * cosf(pcl::deg2rad(angle));
        point.y = sinf(pcl::deg2rad(angle));
        point.z = z;
    uint32_t rgb = (static_cast&lt;uint32_t&gt;(r) &lt;&lt; 16 |
                    static_cast&lt;uint32_t&gt;(g) &lt;&lt; 8 |
                    static_cast&lt;uint32_t&gt;(b));
    point.rgb = *reinterpret_cast&lt;float*&gt;(&amp;rgb);
    point_cloud_ptr-&gt;points.push_back(point);
}

if (z &lt; 1.0)
{
    r -= 10;
    g += 10;
}
}
point_cloud_ptr->width = static_cast<uint32_t>(point_cloud_ptr->points.size());
point_cloud_ptr->height = 1;
pcl::visualization::CloudViewer viewer("result");
viewer.showCloud(point_cloud_ptr);
while (!viewer.wasStopped()) {}
return 0;

}