I am running rviz on rtabmap_ros. At first, data is acquired at around 30 fps, but it will drop to 5-10 fps in a few minutes. With rtabmapviz, it won't slow down in a few minutes. In the case of Rviz, why is it slower due to the amount of data?

The environment I am using is as follows.

• OS Ubuntu 16.04 LTS 4.4.4-151-generic
• ROS Kinetic kame 1.12.14
• odorometry ORB-SLAM2
• rtabmap 0.19.2
• rviz version 1.12.17
• Camera: real sense D435

starting method

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start --Odom/Strategy 5 --OdomORBSLAM2/VocPath \"/home/user/ros_dev/ORB_SLAM2/Vocabulary/ORBvoc.txt\"" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info rtabmapviz:=false rviz:=true --screen

Please let me know if you know something. Thanks, koba