测试环境：

vs2019

pcl==1.12.1

代码：

#include<iostream>
#include <thread>

#include <pcl/common/common_headers.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/console/parse.h>
#include <boost/current_function.hpp>

using namespace pcl;

int main(int argc, char** argv)
{
    // 1. 创建和设置可视化窗口
    std::string strWinName = "3D Viewer", strWinTitle = "Point Cloud Viewer";
    int scnWidth = 1024, scnHeight = 800;
    visualization::PCLVisualizer::Ptr viewer(new visualization::PCLVisualizer(strWinName));
    viewer->setWindowName(strWinTitle);
    viewer->initCameraParameters(); // set camera before set size
    viewer->setPosition(0, 0);
    viewer->setSize(scnWidth, scnHeight);
    viewer->setShowFPS(false);

    // viewports
    int vMenu(0), v1(0), v2(0);
    viewer->createViewPort(0.0, 0.0, 1.0, 0.2, vMenu); // used as interface
    viewer->createViewPort(0.0, 0.2, 0.5, 1.0, v1);
    viewer->createViewPort(0.5, 0.2, 1.0, 1.0, v2);
    // Background Color
    viewer->setBackgroundColor(0.8, 0.8, 0.8, vMenu); // light grey
    viewer->setBackgroundColor(0.1, 0.1, 0.1, v1); // dark grey
    viewer->setBackgroundColor(0.2, 0.2, 0.2, v2); // dark grey

    // cameras
    viewer->createViewPortCamera(v1);
    viewer->createViewPortCamera(v2);
    double pos[3] = { 6,0,0 }; // camera at X-axis
    double foc[3] = { 0,0,0 }; // viewpoint at orgin
    double up[3] = { 0,0,1 };  // up is Z-axis
    viewer->setCameraPosition(pos[0], pos[1], pos[2], foc[0], foc[1], foc[2], up[0], up[1], up[2]);
    // check cameras
    //std::vector<visualization::Camera> cams;
    //viewer->getCameras(cams);

    // coordinates
    viewer->addCoordinateSystem(1.0, "ref_v1", v1);
    viewer->addCoordinateSystem(1.0, "ref_v2", v2);

    // 2. 创建点云数据和添加点云。
    PointCloud<PointXYZ>::Ptr cloud_ptr(new PointCloud<PointXYZ>);
    PointCloud<PointXYZRGB>::Ptr cloud_color_ptr(new PointCloud<PointXYZRGB>);
    std::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::PointXYZ basic_point;
            basic_point.x = 0.5 * std::cos(pcl::deg2rad(angle));
            basic_point.y = sinf(pcl::deg2rad(angle));
            basic_point.z = z;
            cloud_ptr->points.push_back(basic_point); // 将每个点输入点云

            pcl::PointXYZRGB point;
            point.x = basic_point.x;
            point.y = basic_point.y;
            point.z = basic_point.z;
            std::uint32_t rgb = (static_cast<std::uint32_t>(r) << 16 |
                static_cast<std::uint32_t>(g) << 8 | static_cast<std::uint32_t>(b));
            point.rgb = *reinterpret_cast<float*>(&rgb);
            cloud_color_ptr->points.push_back(point); // 将每个点输入点云
        }
        if (z < 0.0)
        {
            r -= 12; // light red at -|z| 
            g += 12; // light green at 0
        }
        else
        {
            g -= 12; // light green at 0
            b += 12; // light blue at +|z|
        }
    }
    cloud_ptr->width = cloud_ptr->size(); // 无规则点云的width为点数
    cloud_ptr->height = 1;
    cloud_color_ptr->width = cloud_color_ptr->size(); // 无规则点云的width为点数
    cloud_color_ptr->height = 1;

    bool ret = viewer->addPointCloud<PointXYZ>(cloud_ptr, "cloud1"); // 白色点云
    if (ret)
    {
        double clrR = 0, clrG = 0, clrB = 1, szPoint = 3;
        viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_COLOR, clrR, clrG, clrB, "cloud1"); // 设置点云颜色
        viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, szPoint, "cloud1"); // 设置大小
    }
    else
        viewer->updatePointCloud<PointXYZ>(cloud_ptr, "cloud1");

    //3. 进入主循环
    while (!viewer->wasStopped())
    {
        // 如果点云不断更新，在这里添加点云
        // 如果需要改变视角，在这里设置相机
        viewer->spinOnce(100, true);
        Sleep(100);
    }
}

演示结果：