awesomebytes/image_transport_qoi_playground

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