a histogram visualization module (PCLHistogramVisualizer) for 2D plots; • a multitude of geometry and color handlers. Here, the user can specify what dimensions are to be used for the point positions in a 3D Cartesian space (see Figure 4), or what colors should be used to render the points (see Figure 5); • RangeImage visualization modules (see Figure 6). The handler interactors are modules that describe how colors and the 3D geometry at each point in space are computed, displayed on screen, and how the user interacts with the data. They are designed with simplicity in mind, and are easily extendable. A code snippet that produces results similar to the ones shown in Figure 4 is presented in Algorithm 1.