diff --git a/.gitignore b/.gitignore
index 98f9cb60a..590c7222e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -22,7 +22,7 @@ depthai-core/build/
 
 # builds
 _builds/
-
+.cache/
 #git
 *.orig
 *_REMOTE_*
@@ -44,4 +44,4 @@ env.bak/
 venv.bak/
 
 # PyCharm
-.idea/
\ No newline at end of file
+.idea/
diff --git a/examples/PointCloud/visualize_pointcloud.py b/examples/PointCloud/visualize_pointcloud.py
index 9af470369..9aa804d2c 100644
--- a/examples/PointCloud/visualize_pointcloud.py
+++ b/examples/PointCloud/visualize_pointcloud.py
@@ -3,8 +3,23 @@
 from time import sleep
 import numpy as np
 import cv2
+import time
 
-FPS = 20
+FPS = 30
+class FPSCounter:
+    def __init__(self):
+        self.frameCount = 0
+        self.fps = 0
+        self.startTime = time.time()
+
+    def tick(self):
+        self.frameCount += 1
+        if self.frameCount % 10 == 0:
+            elapsedTime = time.time() - self.startTime
+            self.fps = self.frameCount / elapsedTime
+            self.frameCount = 0
+            self.startTime = time.time()
+        return self.fps
 
 pipeline = dai.Pipeline()
 camRgb = pipeline.create(dai.node.ColorCamera)
@@ -60,8 +75,11 @@ def key_callback(vis, action, mods):
     vis.create_window()
     vis.register_key_action_callback(81, key_callback)
     pcd = o3d.geometry.PointCloud()
+    coordinateFrame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=1000, origin=[0,0,0])
+    vis.add_geometry(coordinateFrame)
 
     first = True
+    fpsCounter = FPSCounter()
     while isRunning:
         inMessage = q.get()
         inColor = inMessage["rgb"]
@@ -69,12 +87,17 @@ def key_callback(vis, action, mods):
         cvColorFrame = inColor.getCvFrame()
         # Convert the frame to RGB
         cvRGBFrame = cv2.cvtColor(cvColorFrame, cv2.COLOR_BGR2RGB)
+        fps = fpsCounter.tick()
+        # Display the FPS on the frame
+        cv2.putText(cvColorFrame, f"FPS: {fps:.2f}", (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
         cv2.imshow("color", cvColorFrame)
         key = cv2.waitKey(1)
         if key == ord('q'):
             break
         if inPointCloud:
-            pcd.points = o3d.utility.Vector3dVector(inPointCloud.getPoints())
+            t_before = time.time()
+            points = inPointCloud.getPoints().astype(np.float64)
+            pcd.points = o3d.utility.Vector3dVector(points)
             colors = (cvRGBFrame.reshape(-1, 3) / 255.0).astype(np.float64)
             pcd.colors = o3d.utility.Vector3dVector(colors)
             if first:
@@ -84,5 +107,4 @@ def key_callback(vis, action, mods):
                 vis.update_geometry(pcd)
         vis.poll_events()
         vis.update_renderer()
-        sleep(0.01)
     vis.destroy_window()