Graphical simulation with robot sensors data files

Hi community. I have to do a graphical simulation using data files provided by robot sensors (camera, accelerometer, magnetism, gyroscope, etc…). This robot performs a journey along a pipe (sewer for example) capturing all types of data, then I collect data files to draw every detail of the pipe in 3D (inclinations, fissures, obstructions, etc…) and move freely around the scene with inputs. I know OpenGL superficially but I’m not sure how to draw the scene (different each time from the data) accurately. Do you know some libraries, books, information to learn how to make my project? Thanks :slight_smile: