void CVTK3DWindow::UpdatePointerToWindow()
{
	CString tmp;
	int numPoints = m_vtkPCDPoints->GetNumberOfPoints();
	if (numPoints == 0)
		return;

	double bounds[6];
	m_vtkPCDPoints->GetBounds(bounds);
	double minz = bounds[4];
	double maxz = bounds[5];

	vtkNew<vtkLookupTable> lut;
	CreateLookupTable(minz, maxz, numPoints, &lut);

	vtkNew<vtkUnsignedCharArray> colors;
	CreateScalars(m_vtkPCDPoints, lut, &colors);

	m_vtkScalarBar->SetLookupTable(lut);
	m_vtkScalarBar->SetNumberOfLabels(6);
	m_vtkScalarBar->SetBarRatio(0.1);
	m_vtkScalarBar->SetHeight(0.3);
	m_vtkScalarBar->SetTextPad(10);
	m_vtkScalarBar->SetTextPositionToPrecedeScalarBar();

	vtkNew<vtkPolyData> polydata;
	polydata->SetPoints(m_vtkPCDPoints);
	polydata->GetPointData()->SetScalars(colors);

	vtkNew<vtkVertexGlyphFilter> glyphFilter;
	glyphFilter->SetInputData(polydata);
	glyphFilter->Update();

	vtkNew<vtkPointGaussianMapper> mapper;
	mapper->SetInputConnection(glyphFilter->GetOutputPort());
	mapper->SetScaleFactor(0);
	mapper->EmissiveOff();	

	vtkNew<vtkActor> actor;
	actor->SetMapper(mapper);
	
	m_vtkRenderer->AddActor(actor);
	m_vtkRenderer->AddActor(m_vtkScalarBar);
	m_vtkRenderer->SetBackground(.1, .2, .3);

	LARGE_INTEGER start, end, f;
	double time;
	CString str;

	QueryPerformanceFrequency(&f);
	QueryPerformanceCounter(&start);
	
	m_vtkRenderer->ResetCamera();

	QueryPerformanceCounter(&end);
	time = (double)(end.QuadPart - start.QuadPart) / (f.QuadPart) * 1000;
	str.Format(_T("ResetCamera Time: %.5f \n"), time);
	TRACE(str);

	m_vtkRenderWindowInteractor->SetRenderWindow(m_vtkRenderWindow);
	m_vtkRenderWindowInteractor->Initialize();

	vtkNew<CCustomMouseInteractorStyle> style;
	style->SetDefaultRenderer(m_vtkRenderer);
	style->SetParent(this);
	m_vtkRenderWindowInteractor->SetInteractorStyle(style);
	m_vtkRenderWindowInteractor->Initialize();

	m_vtkRenderWindow->AddRenderer(m_vtkRenderer);

	QueryPerformanceFrequency(&f);
	QueryPerformanceCounter(&start);

	m_vtkRenderWindow->Render();

	QueryPerformanceCounter(&end);
	time = (double)(end.QuadPart - start.QuadPart) / (f.QuadPart) * 1000;
	str.Format(_T("Render Time: %.5f \n"), time);
	TRACE(str);	
}