Open3D non-blocking visualizer

NonBlockVisualizer.py

import open3d as o3d
import time

class NonBlockVisualizer:
    def __init__(self, point_size=2, background_color=[0, 0, 0]):
        self.__visualizer = o3d.visualization.Visualizer()
        self.__visualizer.create_window()
        opt = self.__visualizer.get_render_option()
        opt.background_color = np.asarray(background_color)
        opt = self.__visualizer.get_render_option()
        opt.point_size = point_size

        self.__pcd_vis = o3d.geometry.PointCloud()
        self.__initialized = False

    def update_renderer(self, pcd, wait_time=0):
        self.__pcd_vis.points = pcd.points
        self.__pcd_vis.colors = pcd.colors

        if not self.__initialized:
            self.__initialized = True
            self.__visualizer.add_geometry(self.__pcd_vis)
        else:
            self.__visualizer.update_geometry(self.__pcd_vis)
        self.__visualizer.poll_events()
        self.__visualizer.update_renderer()

        if wait_time > 0:
            time.sleep(wait_time)