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Live 3D mapping?

I am able to get a 3d point cloud with the assets_writer and I can also view it. My question would be now if I can see the 3d point cloud live, while I am mapping? I want to implement a navigation so I have to see if the environment is changing. So is something like online 3d mapping possible? I mean 3d mapping without using bag files. I want to start rviz and when I start cartographer I want to see that google cartographer is drawing 3d maps not 2d.

I have already asked this question here: https://github.com/googlecartographer/cartographer_ros/issues/1207 But because they take too long to answere or they do not answere at all, I wanted to try it also here.