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Hi,

Transferring two heavy raw streams of data (such as RGB and Depth) at 30Hz can be a big task for your CPU and that is probably why the performance drops to 20Hz. You can confirm this by launching your nodes and checking how much CPU is being consumed, it will likely be close to 100%.

If performance is an issue for you, implement your nodes as nodelets and register them into openni's nodelet manager to avoid the costly memory transfer between processes.

I hope this helps.