Bad image quality in rviz

[JackCaster]

I am streaming 800x600 frames @30 fps. I performed the camera-IMU calibration fine, but when I run roslaunch ov_msckf subscribe.launch config_path:=<...>/openvins/estimator_config.yaml max_cameras:=1 use_stereo:=false the image quality in Rviz is terrible. Most frames are corrupted so that the algorithm cannot work properly When I play a recorded bag or stream the data directly into rviz (tracking the main topic that carries uncompressed images), the video looks ok, with some sporadic corrupted frames here and there.

Do you know what could cause this issue? Do you have any suggestions on how to improve the image quality?