Low Point Cloud publishing rate

[grupot3]

Running roslaunch snap_dfs cam_dfs_nodelet.launch, the point cloud is published in the topic /stereo/dfs/point_cloud. However, the publishing rate is quite slow (5.5 Hz).

I have followed the advice given here. I have set the Snapdragon Flight in Performance Mode, I have decreased the resolution, and I have reduced the disparity levels. However, the publishing rate is still slow (11 Hz).
With 32 disp. levels, QVGA and performance mode, the point cloud rate is 9.5 Hz, and the disparity_image rate is 19 Hz.
I would need a publishing rate of the point cloud > 20 Hz, preferably with >=32 disp. levels. Is this possible?
Are there other ways to increase the publishing rate (apart from decreasing the resolution and the disparity levels)? I have realized that most of the time is spent in the function mvDFS_GetDepths( ).

Thanks