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Slow RVIZ when displaying point cloud

asked 2017-04-25 18:23:53 -0500

animez4me gravatar image

When I display hd or qhd point cloud on RVIZ, the fps drops to around 1 and eventually 0. My laptop (Intel i7, NVIDIA GeForce GT 640M) also slows down drastically. My CPU usage gets really high however I would have thought that my NVIDIA graphics card would be utilised when displaying point cloud?

How do I know whether my GPU is being utilised for RVIZ? Is my laptop not capable for this?

Thanks

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answered 2022-11-21 11:21:54 -0500

ThomasL624 gravatar image

I think the Ruiz is not using the GPU in default. I also encounter this issue (low fps) in my desktop (i5-10400, RTX3090, 32GB ram). This desktop is clean built with ROS2 on ubuntu 20.04.5. When I just run Rviz2 it can achieve 31 fps, but when loading point cloud.. only 1-2 fps.

Fun fact is that I have also tried to build on a laptop and a desktop (same GPU, but i4-4790). Both machine works just fun and achieved a 20-30 fps when loading with the same pcd point cloud.

Totally out of mind how to fix this.

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Asked: 2017-04-25 18:23:53 -0500

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Last updated: Nov 21 '22