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I don't know if it helps but it might be worth a check: we recently encountered a bug (?) with the latest kernel version of Ubuntu 18. The realsense cpu usage jumped to 100%. After downgrading the kernel (unfortunately, I don't remember the exact version, maybe half a year old), everything went beck to normal cpu usage. No other changes, just the kernel. I know, that it doesn't exactly match your setup but I wanted to mention it.