1. A computer-implemented method for rendering point cloud data, the method comprising the steps of: obtaining point cloud data; fitting one or more polygons to the point cloud data; creating a texture atlas for each of the one or more polygons; generating a first lookup table from the texture atlases, wherein the first lookup table maps each pixel in each of the one or more polygons to a corresponding texture location in the texture atlas; loading a scene for processing/rendering; when the scene is loaded, loading the one or more polygons and the texture atlas; projecting the one or more polygons and the texture atlas into an off-screen buffer, wherein the off-screen buffer defines a depth map of the scene with approximations of a depth per pixel in screen space; utilizing the off-screen buffer as a second lookup table to determine texture data to be rendered for the scene, wherein the off-screen buffer is used to determine whether each pixel in the one or more polygons is occluded or not; and rendering the scene with the texture data, wherein the rendering comprises retrieving corresponding texture data, from pixels identified as not-occluded, from disk.