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 to convert it into a pointcloud. This results in bigger pointclouds and somewhat higher cpu loads.