Help needed in Robotics work [Point clouds]

Hi to all,

I am a new member and by no means a Graphics Programmer. I am a robotics scientist by profession and was wondering if people on the forum could help me.

Is there any tool to visualize large number of points? Is there some sample code that I could use / refine to do this.

The trouble is I need to do this as the points are discovered ie online rather than offline. I was already using matlab/scilab to do the job offline.

All I really need is a simple 3d interface which I can pan rotate and Zoom. and a function to which i can pass an array of points and a colour value. These points should replace the existing points of the same colour in the scene.

Thanks in anticipation