I'm using my laptop currently, it's a Lenovo ThinkPad T540p with an i7. I have no experience using it with a raspberry pi, sorry about that.
One thing I forgot to mention that I don't use the pointcloud from the realsense2-camera, instead I take de depth image and use [depth_image_proc](
https://github.com/ros-perception/image_pipeline/tree/indigo/depth_image_proc) to convert it into a pointcloud. This results in bigger pointclouds and somewhat higher cpu loads.
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