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rgbd_odometry will use 100% of a core on most systems if images are streamed at 30 Hz. rgbd_odometry processes all frames that it can, dropping frames if processing time per frame is over 33 ms in this case. We can reduce rgbd_odometry CPU usage without modifying its parameters by simply decreasing camera frame rate and/or resolution.

The visual odometry pipeline is described in this paper, in particular in this figure:

F2F odometry is quite faster than F2M (default), though less accurate.