diff --git a/examples/logmovie.py b/examples/logmovie.py
index e22dc0e..10de710 100755
--- a/examples/logmovie.py
+++ b/examples/logmovie.py
@@ -111,7 +111,7 @@ def main():
            else Deterministic_SLAM(MinesLaser(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
 
     # Set up a SLAM display, named by dataset
-    display = MapVisualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, dataset)
+    viz = MapVisualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, dataset)
 
     # Pose will be modified in our threaded code
     pose = [0,0,0]
@@ -124,12 +124,8 @@ def main():
     # Loop forever,displaying current map and pose
     while True:
 
-        # Display map and robot pose
-        display.displayMap(mapbytes)
-        display.setPose(pose[0]/1000., pose[1]/1000., pose[2])
-
-        # Refresh the display, exiting gracefully if user closes it
-        if not display.refresh():
+        # Display map and robot pose, exiting gracefully if user closes it
+        if not viz.display(pose[0]/1000., pose[1]/1000., pose[2], mapbytes):
             exit(0)
                     
 main()
diff --git a/examples/rpslam.py b/examples/rpslam.py
index 6584848..6179eb1 100755
--- a/examples/rpslam.py
+++ b/examples/rpslam.py
@@ -43,7 +43,7 @@ if __name__ == '__main__':
     slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
 
     # Set up a SLAM display
-    display = MapVisualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM')
+    viz = MapVisualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM')
 
     # Initialize an empty trajectory
     trajectory = []
@@ -86,16 +86,10 @@ if __name__ == '__main__':
         # Get current map bytes as grayscale
         slam.getmap(mapbytes)
 
-        # Display the map
-        display.displayMap(mapbytes)
-
-        # Display the robot's pose in the map
-        display.setPose(x/1000., y/1000., theta)
-
-        # Break on window close
-        if not display.refresh():
-            break
-
+        # Display map and robot pose, exiting gracefully if user closes it
+        if not viz.display(x/1000., y/1000., theta, mapbytes):
+            exit(0)
+ 
     # Shut down the lidar connection
     lidar.stop()
     lidar.disconnect()
diff --git a/examples/rpslam_scipy.py b/examples/rpslam_scipy.py
index 254d37e..d9f4cbd 100755
--- a/examples/rpslam_scipy.py
+++ b/examples/rpslam_scipy.py
@@ -47,7 +47,7 @@ if __name__ == '__main__':
     slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
 
     # Set up a SLAM display
-    display = MapVisualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM')
+    viz = MapVisualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM')
 
     # Initialize an empty trajectory
     trajectory = []
@@ -98,16 +98,10 @@ if __name__ == '__main__':
         # Get current map bytes as grayscale
         slam.getmap(mapbytes)
 
-        # Display map
-        display.displayMap(mapbytes)
-
-        # Display pose after converting from mm to meters
-        display.setPose(x/1000., y/1000., theta)
-
-        # Break on window close
-        if not display.refresh():
-            break
-
+        # Display map and robot pose, exiting gracefully if user closes it
+        if not viz.display(x/1000., y/1000., theta, mapbytes):
+            exit(0)
+ 
     # Shut down the lidar connection
     lidar.stop()
     lidar.disconnect()
diff --git a/examples/urgslam.py b/examples/urgslam.py
index bc58684..50d790c 100755
--- a/examples/urgslam.py
+++ b/examples/urgslam.py
@@ -39,7 +39,7 @@ if __name__ == '__main__':
     slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
 
     # Set up a SLAM display
-    display = MapVisualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM')
+    viz = MapVisualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM')
 
     # Initialize empty map
     mapbytes = bytearray(MAP_SIZE_PIXELS * MAP_SIZE_PIXELS)
@@ -55,13 +55,6 @@ if __name__ == '__main__':
         # Get current map bytes as grayscale
         slam.getmap(mapbytes)
 
-        # Display map
-        display.displayMap(mapbytes)
-
-        # Display pose after converting from mm to meters
-        display.setPose(x/1000., y/1000., theta)
-
-        # Exit on window close
-        if not display.refresh():
+        # Display map and robot pose, exiting gracefully if user closes it
+        if not viz.display(x/1000., y/1000., theta, mapbytes):
             exit(0)
-     
diff --git a/examples/xvslam.py b/examples/xvslam.py
index 94d09ed..10294d3 100755
--- a/examples/xvslam.py
+++ b/examples/xvslam.py
@@ -39,7 +39,7 @@ if __name__ == '__main__':
     slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
 
     # Set up a SLAM display
-    display = MapVisualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM')
+    viz = MapVisualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM')
 
     # Initialize an empty trajectory
     trajectory = []
@@ -58,13 +58,6 @@ if __name__ == '__main__':
         # Get current map bytes as grayscale
         slam.getmap(mapbytes)
 
-        # Display map
-        display.displayMap(mapbytes)
-
-        # Display pose after converting from mm to meters
-        display.setPose(x/1000., y/1000., theta)
-
-        # Exit on window close
-        if not display.refresh():
+        # Display map and robot pose, exiting gracefully if user closes it
+        if not viz.display(x/1000., y/1000., theta, mapbytes):
             exit(0)
-