I don't know why you want to record your scans in ROS and process them in the Visualizer.
Basically, we record the scans in ROS as rosbag. In visualizer, we record them as csv.
I think there is a way to extract the data from rosbag and convert it to csv.
But I do not see a reason to do that. We already have rviz to do the visualization of the scans.
Combine multiple scans? I didnt see that in visualizer, maybe you can do that in rviz.