diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
index 10a14574b75817ede96758e54fd1f2ea2e8c8ed6..0a6f3e2702ea544b3319aceba5276abaa5436c12 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
@@ -3677,6 +3677,30 @@ namespace VirtualRobot
             float zNear, float zFar, float vertFov//render param
         )
     {
+        SoOffscreenRenderer offscreenRenderer{SbViewportRegion{width, height}};
+        offscreenRenderer.setComponents(SoOffscreenRenderer::RGB);
+        offscreenRenderer.setBackgroundColor(SbColor(1.0f, 1.0f, 1.0f));
+        return renderOffscreenRgbDepthPointcloud(&offscreenRenderer,
+                                          camNode,
+                                          scene,
+                                          width, height,
+                                          renderRgbImage,
+                                          rgbImage,
+                                          renderDepthImage, depthImage,
+                                          renderPointcloud, pointCloud,
+                                          zNear, zFar, vertFov);
+    }
+
+    bool CoinVisualizationFactory::renderOffscreenRgbDepthPointcloud(SoOffscreenRenderer *offscreenRenderer, RobotNodePtr camNode,
+                                                                     SoNode *scene, short width, short height, bool renderRgbImage, std::vector<unsigned char> &rgbImage,
+                                                                     bool renderDepthImage, std::vector<float> &depthImage, bool renderPointcloud,
+                                                                     std::vector<Eigen::Vector3f> &pointCloud, float zNear, float zFar, float vertFov, float nanValue)
+    {
+        if(!offscreenRenderer)
+        {
+            VR_ERROR << "No renderer..." << endl;
+            return false;
+        }
         //check input
         if (!camNode)
         {
@@ -3696,11 +3720,6 @@ namespace VirtualRobot
         //setup
         const bool calculateDepth = renderDepthImage || renderPointcloud;
         const unsigned int numPixel=width*height;
-
-        SoOffscreenRenderer offscreenRenderer{SbViewportRegion{width, height}};
-        offscreenRenderer.setComponents(SoOffscreenRenderer::RGB);
-        offscreenRenderer.setBackgroundColor(SbColor(1.0f, 1.0f, 1.0f));
-
         //required to get the zBuffer
         DepthRenderData userdata;
         std::vector<float> zBuffer;
@@ -3717,9 +3736,9 @@ namespace VirtualRobot
             userdata.w = width;
             userdata.buffer = zBuffer.data();
 
-            offscreenRenderer.getGLRenderAction()->setPassCallback(getZBuffer, static_cast<void*>(&userdata));
+            offscreenRenderer->getGLRenderAction()->setPassCallback(getZBuffer, static_cast<void*>(&userdata));
             ///TODO find way to only render rgb once
-            offscreenRenderer.getGLRenderAction()->setNumPasses(2);
+            offscreenRenderer->getGLRenderAction()->setNumPasses(2);
         }
 
         //render
@@ -3748,8 +3767,9 @@ namespace VirtualRobot
         root->addChild(scene);
 
         static bool renderErrorPrinted = false;
-        const bool renderOk=offscreenRenderer.render(root);
-        root->unref();
+        const bool renderOk=offscreenRenderer->render(root);
+
+
         if (!renderOk)
         {
             if (!renderErrorPrinted)
@@ -3759,10 +3779,12 @@ namespace VirtualRobot
             }
             return false;
         }
+
+        root->unref();
         //rgb
         if(renderRgbImage)
         {
-            const unsigned char* glBuffer = offscreenRenderer.getBuffer();
+            const unsigned char* glBuffer = offscreenRenderer->getBuffer();
             const unsigned int numValues = numPixel*3;
             rgbImage.resize(numValues);
             std::copy(glBuffer, glBuffer+ numValues, rgbImage.begin());
@@ -3851,12 +3873,14 @@ namespace VirtualRobot
                 if(renderPointcloud)
                 {
                     //the cam looks along -z => rotate aroud y 180°
-                    pointCloud.at(pixelIndex)[0]=-xEye;
-                    pointCloud.at(pixelIndex)[1]= yEye;
-                    pointCloud.at(pixelIndex)[2]=-zEye;
+                    auto& point = pointCloud.at(pixelIndex);
+                    point[0]=-xEye;
+                    point[1]= yEye;
+                    point[2]=(-zEye >= zFar)? nanValue : -zEye;
                 }
             }
         }
+
         if(renderDepthImage)
         {
             depthImage = std::move(zBuffer);
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
index a49e6cd0c1db2e6948923b8a801eb523479d9af8..81dd1166b8fab062dde0ed5883d299fbbfbe9fba 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
@@ -338,6 +338,34 @@ namespace VirtualRobot
 
             );
 
+        /*!
+         * \brief Renders the given scene from the given cam position and outputs (optionally) the rgb image, depth image and point cloud.
+         * This version is much faster if always the same SoOffscreenRenderer is passed in.
+         * \param camNode The node of the robot that defines the position of the camera. Any node of the robot can host a camera.
+         * \param scene The scene that should be rendered.
+         * \param width The used image width. (>0)
+         * \param height The used image height. (>0)
+         * \param renderRgbImage Whether to output the rgb image.
+         * \param rgbImage The rgb image's output parameter.
+         * \param renderDepthImgae Whether to output the depth image.
+         * \param depthImage The depth image's output parameter.
+         * \param renderPointcloud Whether to output the point cloud.
+         * \param pointCloud The pointcloud's output parameter.
+         * \param zNear The near plane's distance.
+         * \param zFar The far plane's distance
+         * \param vertFov The fov in rad. (vertical)
+         * \param nanValue All values above this value will be mapped on this value (usually nan or 0)
+         * \return true on success
+         */
+        static bool renderOffscreenRgbDepthPointcloud
+            (SoOffscreenRenderer* renderer,
+                RobotNodePtr camNode, SoNode* scene,
+                short width, short height,
+                bool renderRgbImage, std::vector<unsigned char>& rgbImage,
+                bool renderDepthImage, std::vector<float>& depthImage,
+                bool renderPointcloud, std::vector<Eigen::Vector3f>& pointCloud,
+                float zNear=10.f, float zFar=100000.f, float vertFov = M_PI/4, float nanValue = 0.0);
+
         /*!
          * \brief Renders the given scene from the given cam position and outputs the rgb image, depth image and point cloud.
          * \param camNode The node of the robot that defines the position of the camera. Any node of the robot can host a camera.