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The map disappears in the sense that rviz only shows the last X seconds of published keyframes. The keyframes are stored in the memory of the keyframe_mapper, and you can always request to publish them using the /publish_keyframes service.

Depending on your graphics card, visualizing the keyframe point clouds can eat up a lot of resources. Have you tried turning the Keyframe view off in rviz (or setting the timeout to something smaller)?

Could you post the output of VO in the console? It should be able to tell you how much computation time is taken for each step.