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QOI for image_transport

Lossless image transport comparison.

Test video 560x320 px on Intel® Core™ i7-10875H CPU @ 2.30GHz × 16.

Using JPEG as baseline example.

Compression Algorithm Compression CPU % Decompression CPU % BW HZ
JPEG Quality 80 21 29-31 690KB/s 30
PNG Level 1 59-61 24 5.6MB/s 30
PNG Level 2 59-62 24 5.4MB/s 30
QOI qoixx 27-30 32-35 6.1MB/s 30
QOI 40-50 40-50 6.1MB/s 30

How to run

# Build the docker image
./build.sh
# Run ( needs `sudo apt-get install python3-rocker` from https://github.com/osrf/rocker#debians-recommended )
./run.sh
# and open other shells 
./exec.sh
# Now you can run:
# source /root/catkin_ws/devel/setup.bash && roslaunch video_stream_opencv video_file.launch
# source /root/catkin_ws/devel/setup.bash && rosrun rqt_reconfigure rqt_reconfigure
# source /root/catkin_ws/devel/setup.bash && rosrun rqt_image_view rqt_image_view
# And you can compare via 'top -c' the CPU usage
# the video_stream_opencv process is the 'driver' which compresses the images
# the rqt_image_view (choosing the /videofile/image_raw/compressed topics) will do the uncompression
# with rqt_reconfigure, by choosing video_file > image_raw > compressed, you can change format (and options of the formats)
# to observe the changes in CPU usage

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