how to keep speed when use point cloud with object detection

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I am using a SSD (single shot multibox) detector to detect the objects, the speed was 33 frames per second before adding point cloud to estimating the distance between the object to the camera which is onboard the robot.

after adding point cloud2, the speed decreases to 6 frames per second, it became so bad

my question, how to keep the speed or trying to keep high speed as possible.

I am running the code in PC with GPU 1050 and transferring the data to notebook on the top of the robot by Wi-Fi

ASUS xTion camera is used to depth image using point cloud2

please help me or any suggestion

thank you in advance