diff --git a/download_and_install_spinnaker.sh b/download_and_install_spinnaker.sh
index e6fca5f..6232eea 100755
--- a/download_and_install_spinnaker.sh
+++ b/download_and_install_spinnaker.sh
@@ -8,7 +8,13 @@ export DEBIAN_FRONTEND=noninteractive
 # install basic packages
 apt-get update
 apt-get install -q -y --no-install-recommends \
-    build-essential tree wget dirmngr gnupg2 vim nano git debconf-utils libunwind-dev
+    build-essential tree wget dirmngr gnupg2 vim nano git debconf-utils
+# install libunwind-dev only in amd64
+if [[ $SPINNAKER_LINUX_ARCH == "amd64" ]]
+then
+apt-get update
+apt-get install -q -y --no-install-recommends libunwind-dev
+fi
 
 wget https://coe.northeastern.edu/fieldrobotics/spinnaker_sdk_archive/spinnaker-$SPINNAKER_VERSION-$SPINNAKER_LINUX_ARCH-pkg.tar.gz -nv
 
diff --git a/src/capture.cpp b/src/capture.cpp
index 4de4a76..1f14c31 100755
--- a/src/capture.cpp
+++ b/src/capture.cpp
@@ -15,8 +15,6 @@ acquisition::Capture::~Capture(){
 
     end_acquisition();
     deinit_cameras();
-
-    // pCam = nullptr;
     
     ROS_INFO_STREAM("Clearing camList...");
     camList_.Clear();
@@ -927,6 +925,7 @@ void acquisition::Capture::run_soft_trig() {
     if (LIVE_)namedWindow("Acquisition", CV_WINDOW_NORMAL | CV_WINDOW_KEEPRATIO);
 
     int count = 0;
+    int count_per_window = 0;
     
     if (!EXTERNAL_TRIGGER_) {
         cams[MASTER_CAM_].trigger();
@@ -935,6 +934,7 @@ void acquisition::Capture::run_soft_trig() {
     get_mat_images();
     if (SAVE_) {
         count++;
+        count_per_window++;
         if (SAVE_BIN_)
             save_binary_frames(0);
         else
@@ -956,6 +956,7 @@ void acquisition::Capture::run_soft_trig() {
 
 
     ros::Rate ros_rate(soft_framerate_);
+    double loop_time_per_window = 0.0;
     try{
         while( ros::ok() ) {
 
@@ -996,6 +997,7 @@ void acquisition::Capture::run_soft_trig() {
                             if (!EXPORT_TO_ROS_){
                                 ROS_INFO_STREAM("Exporting frames to ROS...");
                                 export_to_ROS();
+                                count_per_window++;
                             }
                         }
                 } else if( (key & 255)==27 ) {  // ESC
@@ -1016,9 +1018,10 @@ void acquisition::Capture::run_soft_trig() {
                 }
                 get_mat_images();
             }
-
+            count++;
+            count_per_window++;
             if (SAVE_) {
-                count++;
+                //count++;
                 if (SAVE_BIN_)
                     save_binary_frames(0);
                 else
@@ -1042,6 +1045,18 @@ void acquisition::Capture::run_soft_trig() {
             // double total_time = grab_time_ + toMat_time_ + disp_time_ + save_mat_time_;
             double total_time = toMat_time_ + disp_time_ + save_mat_time_+export_to_ROS_time_;
             achieved_time_ = ros::Time::now().toSec() - achieved_time_;
+             // averaging loop time in a window to get average fps
+            loop_time_per_window +=achieved_time_;
+            // refresh the avg every window_length_in_time_sec seconds
+            float window_length_in_time_sec = 60.0;
+            if (SOFT_FRAME_RATE_CTRL_ && (loop_time_per_window >= window_length_in_time_sec)) {
+            	double average_fps = count_per_window/loop_time_per_window;
+            	// warns if average_fps+1 is less than requested fps
+            	ROS_WARN_COND(average_fps+1 <soft_framerate_,"Requested FPS %d Average FPS: %.1f",soft_framerate_,average_fps);
+            	// reset 
+            	loop_time_per_window = 0.0;
+            	count_per_window = 0;
+            }
 
             ROS_INFO_COND(TIME_BENCHMARK_,
                           "total time (ms): %.1f \tPossible FPS: %.1f\tActual FPS: %.1f",