ArViz Performance: Do not copy data for point cloud visu

source/RobotAPI/components/ArViz/Coin/VisualizationPointCloud.h

@@ -23,48 +23,50 @@ namespace armarx::viz::coin
             pclMatBind->value = SoMaterialBinding::PER_PART;
 
             pclCoords = new SoCoordinate3;
-            pclStye = new SoDrawStyle;
+            pclStyle = new SoDrawStyle;
 
             node->addChild(pclMat);
             node->addChild(pclMatBind);
             node->addChild(pclCoords);
-            node->addChild(pclStye);
+            node->addChild(pclStyle);
             node->addChild(new SoPointSet);
         }
 
         bool update(ElementType const& element)
         {
-            auto& pcl = element.points;
+            data::ColoredPointList const& pcl = element.points;
 
-            colors.clear();
-            colors.reserve(pcl.size());
-            coords.clear();
-            coords.reserve(pcl.size());
+            int pclSize = (int)pcl.size();
+            colors.resize(pclSize);
+            coords.resize(pclSize);
 
             const float conv = 1.0f / 255.0f;
-            for (auto& point : pcl)
+            SbColor* colorsData = colors.data();
+            SbVec3f* coordsData = coords.data();
+            for (int i = 0; i < pclSize; ++i)
             {
+                data::ColoredPoint point = pcl[i];
                 float r = point.color.r * conv;
                 float g = point.color.g * conv;
                 float b = point.color.b * conv;
-                colors.emplace_back(r, g, b);
-                coords.emplace_back(point.x, point.y, point.z);
+                colorsData[i].setValue(r, g, b);
+                coordsData[i].setValue(point.x, point.y, point.z);
             }
-            pclMat->diffuseColor.setValues(0, colors.size(), colors.data());
-            pclMat->ambientColor.setValues(0, colors.size(), colors.data());
+            pclMat->diffuseColor.setValuesPointer(pclSize, colors.data());
+            pclMat->ambientColor.setValuesPointer(pclSize, colors.data());
             pclMat->transparency = element.transparency;
 
-            pclCoords->point.setValues(0, coords.size(), coords.data());
-            pclCoords->point.setNum(coords.size());
+            pclCoords->point.setValuesPointer(pclSize, coords.data());
+            pclCoords->point.setNum(pclSize);
 
-            pclStye->pointSize = element.pointSizeInPixels;
+            pclStyle->pointSize = element.pointSizeInPixels;
 
             return true;
         }
 
         SoMaterial* pclMat;
         SoCoordinate3* pclCoords;
-        SoDrawStyle* pclStye;
+        SoDrawStyle* pclStyle;
 
         std::vector<SbColor> colors;
         std::vector<SbVec3f> coords;