Hi, I am getting HD point cloud from Kinect v2 device using iai_kinect2 installed on ROS Indigo in Ubuntu 14.04 LTS 64 Bit PC.

I want to visualize this point cloud in RViz. Unfortunately, it seems very very slow. However, if I change the point cloud to SD, it is rendering smoothly.

I am wondering if HD Point Cloud rendering in RViz can be accelerated by using graphics card on PC. Any suggestions, please?