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I have a Dell XPS15 with an Nvidia card. I'm running Ubuntu 11.04. Installing the proprietary Nvidia drivers would cause my laptop to not boot up. When I ran rviz without the Nvidia support, it would go very slow. I installed optimus+bumblebee, and right now I get excellent performance.

1 thing to note - you need to play around with the color parameter in optirun (rgb, yuv, proxy etc) to see what gives you best performance

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