FPS of image show in RVIZ is lower than the fps of the image publish from the camera

[ChunYe173]

Hi,

I am using Intel Realsense D435 camera. The camera is publishing image with 60 fps to the topic which the SVO subscribed to but the image shown in RVIZ has only 30 fps and even lower when the camera starts moving. I checked the frame rate of the camera with the command rostopic hz /camera/color/image_raw and it shows the image is publishing with 60 fps. I have attached some pictures to explain the issue. Please assists. Thanks

[manojs8473]

The fps show is in RViz tells nothing. I found that when the number of map points increases, the fps show in rviz decreases, probably because it finds its harder to render all those map-points. To find the actual fps at which svo is running i.e. the frequency at which it is publishing pose check the frequency of the messages published on the svo pose topic.