not sending different marker colours to rviz properly

edit

when i send different coloured markers it doesn't shows exact object from which its color was extracted. as i've shown below: 1. real object

2. poicloud rendered in rviz
![image description](/upfiles/14819498042350993.png)]

1. object rendered with its colour and coordinates:

   I just want to check if the colour datas saved by the 3d model of the object is real or not. Here background color of 2nd image is black. This code is just for demonstration purpose, i'm using this concept in another program.

       int h = 479, w = 639, n = 306081;
   
       for(int raw = 0;raw<h;raw++)
       {
           for(int col = 0;col<w;col++)
           {
               P[raw][col] = output.at(col,raw);
           }
       }
       rosbag::Bag bag("image.bag");
      int iv = -1, ix = -1, iy = -1, iz = -1, icx=-1, icy=-1, icz=-1;
   
           rosbag::View view(bag, rosbag::TopicQuery("numbers"));
           BOOST_FOREACH(rosbag::MessageInstance const m, view)
              {
                  std_msgs::Float32::ConstPtr i = m.instantiate<std_msgs::Float32>();
                  iv = iv+1; 
                  if(iv>=0 && iv<306081) {
                      ix = ix+1;
                      xv[ix] = i->data;
                  }
                           if(iv>=306081 && iv<306081*2) {
                      iy = iy+1;
                      yv[iy] = i->data;
                  }
                  if(iv>=306081*2 && iv<306081*3) {
                      iz = iz+1;
                      zv[iz] = i->data;
                  }
   
   
              if(iv>=306081*3 && iv<306081*4) {
                      icx = icx+1;
                      cx[icx] = i->data;
                  }
       if(iv>=306081*4 && iv<306081*5) {
                      icy = icy+1;
                      cy[icy] = i->data;
                  }
       if(iv>=306081*5 && iv<306081*6) {
                      icz = icz+1;
                      cz[icz] = i->data;
                  }
           }
            bag.close();
   
   
            // ** converting already read saved points to 2 d array
            int ip = -1;
            for(int i=0;i<h;i++)
            {
                for(int j=0;j<w;j++)
                {
                    ip = ip+1;
                    x[i][j] = xv[ip]; xp[i][j] = P[i][j].x; xc[i][j]=P[i][j].r; // (xp,yp,zp) is present image,(x,y,z) is cordinate of privious image
                    y[i][j] = yv[ip]; yp[i][j] = P[i][j].y; yc[i][j]=P[i][j].g;
                    z[i][j] = zv[ip]; zp[i][j] = P[i][j].z; zc[i][j]=P[i][j].b;
                }
            }
   
    // ** comparing previous and present point cloud and finding moved objects
                  int im = -1;
                  for(int k=0;k<h;k++)
                          {
                              for(int l=0;l<w;l++)
                          {
                              if( z[k][l]!=0 && zp[k][l]!=0 && !isnan(x[k][l]) && !isnan(xp[k][l]) && !isnan(y[k][l]) && !isnan(yp[k][l]) && !isnan(z[k][l]) && !isnan(zp[k][l]) )
                              {
                                  float dx=abs(float(x[k][l]-xp[k][l])*100);
                                  float dy=abs(float(y[k][l]-yp[k][l])*100);
                                  float dz=abs(float(z[k][l]-zp[k][l])*100); 
                                  float d = sqrt(dx*dx+dy*dy+dz*dz); 
                                  if(d>2)
                                  {
                                      im = im+1;
                                      a[im] =(int) xc[k][l]; b[im] =(int) yc[k][l]; c[im] =(int) zc[k][l]; // (a,b,c) has color of present points  
                                      ac1[im]=xp[k][l]; bc1[im]=yp[k][l]; cc1[im]=zp[k][l]; // (ac1,bc1,cc1) has 3d coordinates  
                                      xa[im] = l ...